diff --git a/playground/common/contact_aided_invariant_ekf/__init__.py b/playground/common/contact_aided_invariant_ekf/__init__.py
new file mode 100644
index 0000000..21d6347
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/__init__.py
@@ -0,0 +1,6 @@
+"""
+Contact aided invariant extended Kalman Filter
+Author: Nathan Kong
+Description: Contact aided invariant extended Kalman Filter TODO: fill in description.
+             Following invariant-ekf implementation from https://github.com/RossHartley/invariant-ekf
+"""
diff --git a/playground/common/contact_aided_invariant_ekf/contact_aided_invariant_ekf.py b/playground/common/contact_aided_invariant_ekf/contact_aided_invariant_ekf.py
new file mode 100644
index 0000000..90c1e25
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/contact_aided_invariant_ekf.py
@@ -0,0 +1,437 @@
+import numpy as np
+from playground.common.contact_aided_invariant_ekf.observation import Observation, check_measurement_is_empty
+from typing import Optional
+from playground.common.contact_aided_invariant_ekf.robot_state import RobotState
+from playground.common.contact_aided_invariant_ekf.lie_group import exp_so3, exp_sek3, adjoint_sek3, skew
+from playground.common.contact_aided_invariant_ekf.noise_params import NoiseParams
+from playground.common.contact_aided_invariant_ekf.utils import remove_row_and_column, GRAVITY_ACCELERATION
+from playground.common.contact_aided_invariant_ekf.robot_kinematics import Kinematics
+
+
+class Landmark:
+    def __init__(self, id_in: int, position_in: np.ndarray):
+        """
+        Represents a landmark with an ID and a 3D position.
+
+        Args:
+            id_in (int): The landmark ID.
+            position_in (np.ndarray): A 3D numpy array representing the landmark position.
+        """
+        self.id = id_in
+        self.position = np.array(position_in, dtype=float)  # Ensure it's a NumPy array
+
+    def __repr__(self):
+        return f"Landmark(id={self.id}, position={self.position})"
+
+
+class RightInEKF:
+    def __init__(self, state: Optional[RobotState] = None, noise_params: Optional[NoiseParams] = None):
+        self.g_ = np.array([0, 0, GRAVITY_ACCELERATION])
+
+        if state is None:
+            state = RobotState()
+        self.state_ = state
+
+        if noise_params is None:
+            noise_params = NoiseParams()
+        self.noise_params_ = noise_params
+
+        self.prior_landmarks_ = {}
+        self.estimated_landmarks_ = {}
+        self.estimated_contact_positions_ = {}
+        self.contacts_ = {}
+
+    def get_state(self):
+        return self.state_
+
+    def set_state(self, state):
+        self.state_ = state
+
+    def get_noise_params(self):
+        return self.noise_params_
+
+    def set_noise_params(self, params):
+        self.noise_params_ = params
+
+    def get_prior_landmarks(self):
+        return self.prior_landmarks_
+
+    def set_prior_landmarks(self, prior_landmarks):
+        self.prior_landmarks_ = prior_landmarks
+
+    def get_estimated_landmarks(self):
+        return self.estimated_landmarks_
+
+    def get_estimated_contact_positions(self):
+        return self.estimated_contact_positions_
+
+    def set_contacts(self, contacts: tuple[int, bool]):
+        for contact_tuple in contacts:
+            contact_id, is_contact = contact_tuple
+            self.contacts_[contact_id] = is_contact
+
+    def get_contacts(self):
+        return self.contacts_
+
+
+    def propagate(self, m: np.ndarray, dt: float):
+        """
+        A priori Invariant EKF update. Note: bias does not evolve so it is not captured in the state, however, is considered in the covariance matrix.
+        """
+        w = m[:3] - self.state_.get_gyroscope_bias().squeeze()  # Angular Velocity
+        a = m[3:] - self.state_.get_accelerometer_bias().squeeze()  # Linear Acceleration
+
+        X = self.state_.get_x()
+        P = self.state_.get_p()
+
+        # Extract State
+        R = self.state_.get_rotation()
+        v = self.state_.get_velocity()
+        p = self.state_.get_position()
+
+        # Strapdown IMU motion model
+        phi = w * dt
+        R_pred = R @ exp_so3(phi)
+        v_pred = v + (R @ a + self.g_) * dt
+        p_pred = p + v * dt + 0.5 * (R @ a + self.g_) * dt**2
+
+        # Set new state (bias has constant dynamics)
+        self.state_.set_rotation(R_pred)
+        self.state_.set_velocity(v_pred)
+        self.state_.set_position(p_pred)
+
+        # ---- Linearized invariant error dynamics -----
+        dimX = self.state_.dim_x()
+        dimP = self.state_.dim_p()
+        dimTheta = self.state_.dim_theta()
+
+        A = np.zeros((dimP, dimP))
+
+        # TODO: we don't need to compute inertia terms for A everytime.
+        A[3:6, 0:3] = skew(self.g_)
+        A[6:9, 3:6] = np.eye(3)
+
+        # Bias terms
+        A[0:3, dimP-dimTheta:dimP-dimTheta+3] = -R
+        A[3:6, dimP-dimTheta+3:dimP-dimTheta+6] = -R
+
+        # TODO: vectorize?
+        for i in range(3, dimX):
+            A[3*i-6:3*i-3, dimP-dimTheta:dimP-dimTheta+3] = -skew(X[0:3, i]) @ R
+        # Vectorized computation for the loop
+        # indices = np.arange(3, dimX)
+        # A[3*indices-6, dimP-dimTheta:dimP-dimTheta+3] = -skew(X[0:3, indices]) @ R
+
+        # Noise terms. TODO: vectorize
+        Qk = np.zeros((dimP, dimP))
+        Qk[0:3, 0:3] = self.noise_params_.get_gyroscope_cov()
+        Qk[3:6,  3:6] = self.noise_params_.get_accelerometer_cov()
+
+        for _, idx in self.estimated_contact_positions_.items():
+            Qk[3+3*(idx-3):3+3*(idx-3)+3, 3+3*(idx-3):3+3*(idx-3)+3] = self.noise_params_.get_contact_cov()
+
+        Qk[dimP-dimTheta:dimP-dimTheta+3, dimP-dimTheta:dimP-dimTheta+3] = self.noise_params_.get_gyroscope_bias_cov()
+        Qk[dimP-dimTheta+3:dimP-dimTheta+6, dimP-dimTheta+3:dimP-dimTheta+6] = self.noise_params_.get_accelerometer_bias_cov()
+
+        # Discretization
+        identity = np.eye(dimP)
+        Phi = identity + A * dt  # Fast approximation of exp(A*dt)
+        Adj = identity.copy()
+        Adj[:dimP-dimTheta, :dimP-dimTheta] = adjoint_sek3(X)
+        PhiAdj = Phi @ Adj
+        Qk_hat = PhiAdj @ np.diag(np.diag(Qk)) @ PhiAdj.T * dt
+
+        # Propagate Covariance
+        P_pred = Phi @ P @ Phi.T + Qk_hat
+
+        # Set new covariance
+        self.state_.set_p(P_pred)
+
+    def correct(self, obs: Observation):
+        if obs.is_empty():
+            return
+        # print("Obs: ",obs)
+        P = self.state_.get_p()
+        PHT = P @ obs.H.T
+        S = obs.H @ PHT + obs.N
+        K = PHT @ np.linalg.inv(S)
+
+        BigX = self.state_.copy_diag_x(obs.Y.shape[0] // self.state_.dim_x())
+        Z = BigX @ obs.Y - obs.b
+        delta = K @ obs.PI @ Z
+
+        dX = exp_sek3(delta[:-self.state_.dim_theta()])
+        dTheta = delta[-self.state_.dim_theta():]
+
+        X_new = dX @ self.state_.get_x()
+        Theta_new = self.state_.get_theta().squeeze() + dTheta
+
+        self.state_.set_x(X_new)
+        self.state_.set_theta(Theta_new)
+
+        IKH = np.eye(self.state_.dim_p()) - K @ obs.H
+        P_new = IKH @ P @ IKH.T + K @ obs.N @ K.T
+        self.state_.set_p(P_new)
+
+    def correct_landmarks(self, measured_landmarks: list[Landmark], current_rotation: np.ndarray):
+        Y = np.array([])
+        b = np.array([])
+        H = np.zeros((0, self.state_.dim_p()))
+        N = np.zeros((0, 0))
+        PI = np.zeros((0, 0))
+
+        new_landmarks = []
+        used_landmark_ids = set()
+
+        for landmark in measured_landmarks:
+            if landmark.id in used_landmark_ids:
+                # print("Duplicate landmark ID detected! Skipping measurement.")
+                continue
+            used_landmark_ids.add(landmark.id)
+            
+            if landmark.id in self.prior_landmarks_:
+                p_wl = self.prior_landmarks_[landmark.id]
+                dim_x = self.state_.dim_x()
+                dim_p = self.state_.dim_p()
+                
+                Y = np.append(Y, np.zeros(dim_x))
+                Y[-dim_x+3:-dim_x+6] = landmark.position
+                Y[-dim_x+4] = 1
+                
+                b = np.append(b, np.zeros(dim_x))
+                b[-dim_x+3:-dim_x+6] = p_wl
+                b[-dim_x+4] = 1
+                
+                new_H = np.zeros((3, dim_p))
+                new_H[:, :3] = self.skew(p_wl)
+                new_H[:, 6:9] = -np.eye(3)
+                H = np.vstack((H, new_H))
+                
+                new_N = np.zeros((N.shape[0] + 3, N.shape[1] + 3))
+                new_N[:N.shape[0], :N.shape[1]] = N
+                new_N[-3:, -3:] = current_rotation @ self.noise_params_.get_landmark_cov() @ current_rotation.T
+                N = new_N
+                
+                new_PI = np.zeros((PI.shape[0] + 3, PI.shape[1] + dim_x))
+                new_PI[:PI.shape[0], :PI.shape[1]] = PI
+                new_PI[-3:, -dim_x:] = np.zeros((3, dim_x))
+                new_PI[-3:, -3:] = np.eye(3)
+                PI = new_PI
+                
+            elif landmark.id in self.estimated_landmarks:
+                dim_x = self.state_.dim_x()
+                dim_p = self.state_.dim_p()
+                idx = self.estimated_landmarks[landmark.id]
+                
+                Y = np.append(Y, np.zeros(dim_x))
+                Y[-dim_x+3:-dim_x+6] = landmark.position
+                Y[-dim_x+4] = 1
+                Y[-dim_x+idx] = -1
+                
+                b = np.append(b, np.zeros(dim_x))
+                b[-dim_x+4] = 1
+                b[-dim_x+idx] = -1
+                
+                new_H = np.zeros((3, dim_p))
+                new_H[:, 6:9] = -np.eye(3)
+                new_H[:, 3*idx-6:3*idx-3] = np.eye(3)
+                H = np.vstack((H, new_H))
+                
+                new_N = np.zeros((N.shape[0] + 3, N.shape[1] + 3))
+                new_N[:N.shape[0], :N.shape[1]] = N
+                new_N[-3:, -3:] = current_rotation @ self.noise_params_.get_landmark_cov() @ current_rotation.T
+                N = new_N
+                
+                new_PI = np.zeros((PI.shape[0] + 3, PI.shape[1] + dim_x))
+                new_PI[:PI.shape[0], :PI.shape[1]] = PI
+                new_PI[-3:, -dim_x:] = np.zeros((3, dim_x))
+                new_PI[-3:, -3:] = np.eye(3)
+                PI = new_PI
+
+            else:
+                new_landmarks.append(landmark)
+                
+        obs = Observation(Y, b, H, N, PI)
+        if not obs.is_empty():
+            self.correct(obs)
+        
+        if new_landmarks:
+            X_aug = self.state_.get_x()
+            P_aug = self.state_.get_p()
+            p = self.state_.get_position()
+            
+            for landmark in new_landmarks:
+                start_idx = X_aug.shape[0]
+                X_aug = np.pad(X_aug, ((0, 1), (0, 1)), mode='constant')
+                X_aug[start_idx, start_idx] = 1
+                X_aug[:3, start_idx] = p + current_rotation @ landmark.position
+                
+                F = np.zeros((self.state_.dim_p() + 3, self.state_.dim_p()))
+                F[:self.state_.dim_p() - self.state_.dim_theta(), :self.state_.dim_p() - self.state_.dim_theta()] = np.eye(self.state_.dim_p() - self.state_.dim_theta())
+                F[self.state_.dim_p() - self.state_.dim_theta():self.state_.dim_p() - self.state_.dim_theta() + 3, 6:9] = np.eye(3)
+                F[self.state_.dim_p() - self.state_.dim_theta() + 3:, self.state_.dim_p() - self.state_.dim_theta():] = np.eye(self.state_.dim_theta())
+                
+                G = np.zeros((F.shape[0], 3))
+                G[-self.state_.dim_theta()-3:, :] = current_rotation
+                P_aug = (F @ P_aug @ F.T + G @ self.noise_params_.get_landmark_cov() @ G.T)
+                
+                self.state_.set_x(X_aug)
+                self.state_.set_p(P_aug)
+                self.estimated_landmarks_[landmark.id] = start_idx
+    
+    def correct_kinematics(self, measured_kinematics: list[Kinematics]):
+        remove_contacts = []
+        new_contacts: list[Kinematics] = []
+        used_contact_ids = set()
+        # TODO: find out if we want R to actually be held constant and not utilized for other updates.
+        R = self.state_.get_rotation()
+
+        for kinematic in measured_kinematics:
+            contact_id = kinematic.id
+
+            # Detect and skip if an ID is not unique
+            if contact_id in used_contact_ids:
+                # print("Duplicate contact ID detected! Skipping measurement.")
+                continue
+            else:
+                used_contact_ids.add(contact_id)
+
+            # Find contact indicator for the kinematics measurement
+            if contact_id not in self.contacts_:
+                continue  # Skip if contact state is unknown
+            contact_indicated = self.contacts_[contact_id]
+
+            # Find the estimated contact position
+            found = contact_id in self.estimated_contact_positions_
+            # print(f"Contact indicated: {contact_indicated}, found: {found}")
+
+            # If contact is not indicated and id is found in estimated_contacts_, then remove state
+            if not contact_indicated and found:
+                remove_contacts.append((contact_id, self.estimated_contact_positions_[contact_id]))
+            # If contact is indicated and id is not found in estimated_contacts_, then augment state
+            elif contact_indicated and not found:
+                new_contacts.append(kinematic)
+            # If contact is indicated and id is found in estimated_contacts_, then correct using kinematics
+            elif contact_indicated and found:
+                obs = self._create_observation_from_kinematics(kinematics=kinematic, current_rotation=R)
+                if not obs.is_empty():
+                    self.correct(obs)
+
+        # Remove contacts from state
+        self._remove_contacts_from_state(remove_contacts)
+
+        # Add contacts to state
+        self._add_contacts_to_state(new_contacts, current_rotation=R)
+
+    def _create_observation_from_kinematics(
+            self,
+            kinematics: Kinematics,
+            current_rotation: np.ndarray) -> Observation:
+        dim_x = self.state_.dim_x()
+        dim_p = self.state_.dim_p()
+
+        Y = np.zeros(dim_x)
+        b = np.zeros(dim_x)
+        H = np.zeros((3, dim_p))
+        N = np.zeros((3, 3))
+        PI = np.zeros((3, dim_x))
+
+        # If empty, we will just return an empty observation.
+        if check_measurement_is_empty(Y=Y):
+            return Observation(Y, b, H, N, PI)
+
+        # Modify Y
+        Y[0:3] = kinematics.pose[0:3, 3]  # p_bc
+        Y[4] = 1
+        Y[self.estimated_contact_positions_[kinematics.id]] = -1
+
+        # Modify b
+        b[0:3] = np.zeros(3)
+        b[4] = 1
+        b[self.estimated_contact_positions_[kinematics.id]] = -1
+
+        # Modify H
+        H[0:3, 6:9] = -np.eye(3)
+        H[0:3, 3 * self.estimated_contact_positions_[kinematics.id] - 6:3 * self.estimated_contact_positions_[kinematics.id] - 3] = np.eye(3)
+
+        # Modify N
+        N[0:3, 0:3] = current_rotation @ kinematics.covariance[3:6, 3:6] @ current_rotation.T
+
+        # Modify PI
+        PI[0:3, 0:3] = np.eye(3)
+
+        # Create Observation object (if defined)
+        obs = Observation(Y, b, H, N, PI)
+        return obs
+
+    def _remove_contacts_from_state(self, remove_contacts: list[tuple]):
+        if remove_contacts:
+            X_rem = self.state_.get_x()
+            P_rem = self.state_.get_p()
+            for contact in sorted(remove_contacts, key=lambda x: x[1], reverse=True):  
+                # Sort in descending order to avoid index shift issues
+                self.estimated_contact_positions_.pop(contact[0], None)
+
+                # Remove row and column from X
+                X_rem = remove_row_and_column(X_rem, contact[1])
+
+                # Remove 3 rows and columns from P
+                start_index = 3 + 3 * (contact[1] - 3)
+                for _ in range(3):
+                    P_rem = remove_row_and_column(P_rem, start_index)
+
+                # Update indices in estimated landmarks and contact positions
+                self.estimated_landmarks_ = {
+                    k: (v - 1 if v > contact[1] else v)
+                    for k, v in self.estimated_landmarks_.items()
+                }
+                self.estimated_contact_positions_ = {
+                    k: (v - 1 if v > contact[1] else v)
+                    for k, v in self.estimated_contact_positions_.items()
+                }
+
+            # Update state
+            self.state_.set_x(X_rem)
+            self.state_.set_p(P_rem)
+    
+    def _add_contacts_to_state(self, new_contacts: list[Kinematics], current_rotation: np.ndarray):
+        # Augment state with newly detected contacts
+        if new_contacts:
+            X_aug = self.state_.get_x()
+            P_aug = self.state_.get_p()
+            p = self.state_.get_position()
+            for contact in new_contacts:
+                # Initialize new landmark mean
+                start_index = X_aug.shape[0]
+                
+                # Resize the matrix by adding an additional row and column
+                X_aug = np.pad(X_aug, ((0, 1), (0, 1)), mode='constant', constant_values=0)
+                
+                # Set the new diagonal entry to 1
+                X_aug[start_index, start_index] = 1
+                
+                # Update the new column with the transformed position
+                X_aug[:3, start_index] = p + current_rotation @ contact.pose[:3, 3]
+                # print("X_aug: ", X_aug)
+
+                # Initialize new landmark covariance
+                F = np.zeros((self.state_.dim_p() + 3, self.state_.dim_p()))
+
+                # Block assignment
+                F[:self.state_.dim_p() - self.state_.dim_theta(), :self.state_.dim_p()  - self.state_.dim_theta()] = np.eye(self.state_.dim_p()  - self.state_.dim_theta())  # for old X
+                F[self.state_.dim_p() - self.state_.dim_theta():self.state_.dim_p() - self.state_.dim_theta() + 3, 6:9] = np.eye(3)  # for new landmark
+                F[self.state_.dim_p() - self.state_.dim_theta() + 3:, self.state_.dim_p() - self.state_.dim_theta():] = np.eye(self.state_.dim_theta())  # for theta
+                # print("F: ", F)
+
+                G = np.zeros((F.shape[0], 3))
+                G[-self.state_.dim_theta() - 3:-self.state_.dim_theta(), :] = current_rotation
+                # print("G: ", G)
+                P_aug = F @ P_aug @ F.T + G @ contact.covariance[3:6, 3:6] @ G.T
+
+                # print("P_aug: ", P_aug)
+                # Update state and covariance
+                self.state_.set_x(X_aug)
+                self.state_.set_p(P_aug)
+
+                # Add to list of estimated contact positions
+                self.estimated_contact_positions_[contact.id] = start_index
diff --git a/playground/common/contact_aided_invariant_ekf/drake_kinematics.py b/playground/common/contact_aided_invariant_ekf/drake_kinematics.py
new file mode 100644
index 0000000..22b270d
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/drake_kinematics.py
@@ -0,0 +1,122 @@
+import numpy as np
+from typing import Optional
+from playground.common.contact_aided_invariant_ekf.robot_kinematics import Kinematics
+
+from pydrake.all import (
+    MultibodyPlant,
+    Parser,
+    DiagramBuilder,
+    AddMultibodyPlantSceneGraph,
+    RigidTransform,
+    JacobianWrtVariable,
+    StartMeshcat,
+    MeshcatVisualizer
+)
+
+
+class DrakeKinematics:
+    def __init__(
+            self,
+            imu_frame_name: str,
+            end_effector_frame_name_to_id_map: dict[str],
+            urdf_model_path: str,
+            end_effector_offset_map: Optional[dict[str, list]] = None,
+            visualize: bool = True
+            ):
+        self.end_effector_frame_name_to_id_map = end_effector_frame_name_to_id_map
+
+        self.builder = DiagramBuilder()
+        plant_and_scene_graph = AddMultibodyPlantSceneGraph(self.builder, time_step=0.01)
+        self.plant: MultibodyPlant = plant_and_scene_graph[0]
+        self.scene_graph = plant_and_scene_graph[1]
+
+        parser = Parser(self.plant)
+        parser.AddModels(urdf_model_path)
+
+        self.visualize = visualize
+        if visualize:
+            meshcat = StartMeshcat()
+            MeshcatVisualizer.AddToBuilder(self.builder, self.scene_graph, meshcat)
+
+        self.imu_frame = self.plant.GetFrameByName(imu_frame_name)
+        self.plant.WeldFrames(
+            self.plant.world_frame(),
+            self.imu_frame,
+            RigidTransform()
+        )
+        self.plant.Finalize()
+        self.diagram = self.builder.Build()
+        self.context = self.diagram.CreateDefaultContext()
+
+        self.end_effector_body_map = {}
+        self.end_effector_frame_map = {}
+        for name in end_effector_frame_name_to_id_map:
+            self.end_effector_frame_map[name] = self.plant.GetFrameByName(name)
+            self.end_effector_body_map[name] = self.plant.GetBodyByName(name)
+
+        zero_offset = [0.0, 0.0, 0.0]
+        if end_effector_offset_map is None:
+            end_effector_offset_map = {name: zero_offset for name in end_effector_frame_name_to_id_map}
+        self.end_effector_offset_map = end_effector_offset_map
+
+        # Get the joint mapping
+        self.joint_name_to_idx_map = {}
+        for joint_idx in self.plant.GetJointIndices():
+            joint = self.plant.get_joint(joint_idx)
+            if joint.num_positions() == 1:
+                self.joint_name_to_idx_map[joint.name()] = joint.position_start()
+
+    def compute_fk(self, joint_positions: np.ndarray) -> dict[str, np.ndarray]:
+        """
+        Note: expect joint positions to be in the order of joing_name_to_idx_map
+        """
+        plant_context = self.plant.GetMyMutableContextFromRoot(self.context)
+        self.plant.SetPositions(plant_context, joint_positions)
+        if self.visualize:
+            self.diagram.ForcedPublish(self.context)
+
+        end_effector_pose_map = {}
+        for name, body in self.end_effector_body_map.items():
+            rigid_transform: RigidTransform = self.plant.EvalBodyPoseInWorld(
+                plant_context,
+                self.end_effector_body_map[name]
+            )
+            # Update the translation with the offset
+            offset_rigid_transform = rigid_transform @ RigidTransform(
+                self.end_effector_offset_map[name]
+            )  # Apply in the body frame of the EE.
+            end_effector_pose_map[name] = offset_rigid_transform.GetAsMatrix4()
+        return end_effector_pose_map
+
+    def compute_analytical_jacobians(self) -> dict[str, np.ndarray]:
+        """
+        Note: assumes `compute_fk` has been called to set the context.
+        """
+        plant_context = self.plant.GetMyContextFromRoot(self.context)
+        # Computes spatial velocity (so(3)xR^3) from joint velocities of the foot w.r.t the imu frame.
+        J_analyitical_map = {}
+
+        for name, frame in self.end_effector_frame_map.items():
+            J_analyitical_map[name] = self.plant.CalcJacobianSpatialVelocity(
+                plant_context,
+                JacobianWrtVariable.kQDot,
+                frame,
+                self.end_effector_offset_map[name],
+                self.imu_frame,
+                self.imu_frame,
+            )
+        return J_analyitical_map
+
+    def compute_kinematics(self, joint_positions: np.ndarray, joint_covariance: np.ndarray) -> dict[str, Kinematics]:
+        ee_transform_map = self.compute_fk(joint_positions=joint_positions)
+        analytical_jacobian_map = self.compute_analytical_jacobians()
+
+        kinematics_map = {}
+        for ee_name in ee_transform_map:
+            kinematic_covariance = analytical_jacobian_map[ee_name] @ joint_covariance @ analytical_jacobian_map[ee_name].T
+            kinematics_map[ee_name] = Kinematics(
+                id_in=self.end_effector_frame_name_to_id_map[ee_name],
+                pose_in=ee_transform_map[ee_name],
+                covariance_in=kinematic_covariance
+            )
+        return kinematics_map
diff --git a/playground/common/contact_aided_invariant_ekf/kinematics_example.py b/playground/common/contact_aided_invariant_ekf/kinematics_example.py
new file mode 100644
index 0000000..cdc57e6
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/kinematics_example.py
@@ -0,0 +1,204 @@
+import numpy as np
+import cProfile
+import pstats
+from matplotlib import pyplot as plt
+from playground.common.contact_aided_invariant_ekf.robot_state import RobotState
+from playground.common.contact_aided_invariant_ekf.noise_params import NoiseParams
+from playground.common.contact_aided_invariant_ekf.contact_aided_invariant_ekf import RightInEKF, Kinematics
+
+np.set_printoptions(precision=5, linewidth=100)
+
+# Conversion from string to numeric
+def stod98(s):
+    return float(s)
+
+
+def stoi98(s):
+    return int(stod98(s))
+
+
+def load_matrices_from_binary(filename):
+    """
+    Some reason this gets transposed when it comes in.
+    """
+    matrices = []
+    with open(filename, "rb") as f:
+        while True:
+            timestep_data = f.read(4)
+            if not timestep_data:
+                break  # EOF
+            
+            timestep = np.frombuffer(timestep_data, dtype=np.int32)[0]
+            rows = np.frombuffer(f.read(4), dtype=np.int32)[0]
+            cols = np.frombuffer(f.read(4), dtype=np.int32)[0]
+            data = np.frombuffer(f.read(rows * cols * 8), dtype=np.float64)
+            
+            matrices.append((timestep, data.reshape((rows, cols)).T))
+    
+    return matrices
+
+
+# Main function
+def main():
+    # ---- Initialize invariant extended Kalman filter ----- //
+    initial_state = RobotState()
+
+    # Initialize state mean
+    R0 = np.array([[1, 0, 0],
+                   [0, -1, 0],
+                   [0, 0, -1]])
+    v0 = np.zeros(3)
+    p0 = np.zeros(3)
+    bg0 = np.zeros(3)
+    ba0 = np.zeros(3)
+    initial_state.set_rotation(R0)
+    initial_state.set_velocity(v0)
+    initial_state.set_position(p0)
+    initial_state.set_gyroscope_bias(bg0)
+    initial_state.set_accelerometer_bias(ba0)
+
+    # Initialize state covariance
+    noise_params = NoiseParams(
+        gyroscope_nosie=0.01,
+        accelerometer_noise=0.1,
+        gyroscope_bias_noise=0.00001,
+        accelerometer_bias_noise=0.0001,
+        contact_noise=0.01
+    )
+
+    # Initialize filter
+    filter = RightInEKF(initial_state, noise_params)
+    # print("Noise parameters are initialized to:")
+    # print(filter.get_noise_params())
+    # print("Robot's state is initialized to:")
+    # print(filter.get_state())
+
+    # Open data file
+    data_file = "./playground/common/contact_aided_invariant_ekf/data/imu_kinematic_measurements.txt"
+    validation_data_file = "./playground/common/contact_aided_invariant_ekf/data/robot_state_estimates.bin"
+    kinematic_covariance_data_file = "./playground/common/contact_aided_invariant_ekf/data/kinematic_covariance_updates.bin"
+    prop_covariance_data_file = "./playground/common/contact_aided_invariant_ekf/data/propagation_updates.bin"
+    imu_measurement_prev = np.zeros(6)
+    t_prev = 0
+    count = 0
+    kinematic_count = 0
+    prop_count = 0
+
+    matrices = load_matrices_from_binary(validation_data_file)
+    kinematic_matrices = load_matrices_from_binary(kinematic_covariance_data_file)
+    propagation_matrices = load_matrices_from_binary(prop_covariance_data_file)
+    # ---- Loop through data file and read in measurements line by line ---- //
+    # TODO: debug propagation step at count 636. Seems like after adding a contact, it doesn't update properly.
+    error_list = []
+    contact_list = []
+    propagation_computation_time_list = []
+    with open(data_file, 'r') as infile:
+        for line in infile:
+            measurement = line.split()
+            # print(f"Count: {count}")
+            # # print("X: ", filter.get_state())
+            actual_state = filter.get_state()
+            # Load and print matrices
+            adjusted_idx = count * 3
+            validation_X = matrices[adjusted_idx][1]
+            validation_Theta = matrices[adjusted_idx + 1][1]
+            validation_P = matrices[adjusted_idx + 2][1]
+
+            # # print("Validation X: ", validation_X)
+            
+            error_X = actual_state.get_x() - validation_X
+            error_P = actual_state.get_p() - validation_P
+            # # print("Error X: ", error_X)
+            # # print("Error P: ", error_P)
+            
+            norm_error_X = np.linalg.norm(error_X)
+            norm_error_P = np.linalg.norm(error_P, axis=1)
+            # print("Norm Error X: ", norm_error_X)
+            # print("Norm Error P: ", norm_error_P)
+            error_list.append(norm_error_X)
+            count += 1
+
+            if measurement[0] == "IMU":
+                # print("Received IMU Data, propagating state")
+                assert len(measurement) - 2 == 6
+                t = stod98(measurement[1])
+                imu_measurement = np.array([stod98(x) for x in measurement[2:8]])
+
+                # Propagate using IMU data
+                dt = t - t_prev
+                if 1e-6 < dt < 1:
+                    filter.propagate(imu_measurement_prev, dt)
+                    # propagation_computation_time_list.append()
+            elif measurement[0] == "CONTACT":
+                # print("Received CONTACT Data, setting filter's contact state")
+                assert (len(measurement) - 2) % 2 == 0
+                contacts = []
+                t = stod98(measurement[1])
+                for i in range(2, len(measurement), 2):
+                    id = stoi98(measurement[i])
+                    indicator = bool(stod98(measurement[i + 1]))
+                    if indicator:
+                        pass
+                    contacts.append((id, indicator))
+                filter.set_contacts(contacts)
+                contact_list.append((count, contacts[0][1], contacts[1][1]))
+                # # print("Set contacts: ",filter.contacts_)
+            elif measurement[0] == "KINEMATIC":
+                # print("Received KINEMATIC observation, correcting state")
+                assert (len(measurement) - 2) % 44 == 0
+                measured_kinematics = []
+                t = stod98(measurement[1])
+                # TODO: need to do the computations for Jacobians and covariance computations from them.
+                for i in range(2, len(measurement), 44):
+                    id = stoi98(measurement[i])
+                    q = np.array([stod98(measurement[i+j]) for j in range(1, 5)])
+                    q = q / np.linalg.norm(q)  # Normalize quaternion
+                    p = np.array([stod98(measurement[i + 5]), stod98(measurement[i + 6]), stod98(measurement[i + 7])])
+                    pose = np.eye(4)
+                    pose[:3, :3] = q_to_rotation_matrix(q)  # Assuming a function q_to_rotation_matrix exists
+                    pose[:3, 3] = p
+                    covariance = np.array([[stod98(measurement[i + 8 + j * 6 + k]) for k in range(6)] for j in range(6)])
+                    # print("Kinematic pose: ", pose)
+                    # print("Kinematic cov: ", covariance)
+                    measured_kinematics.append(
+                        Kinematics(id_in=id, pose_in=pose, covariance_in=covariance)
+                        )
+                filter.correct_kinematics(measured_kinematics)
+
+            # Store previous timestamp
+            t_prev = t
+            imu_measurement_prev = imu_measurement
+    error_array = np.array(error_list)
+    contact_count_array = np.array([contact_tuple[0] for contact_tuple in contact_list])
+    contact_array = np.array([[contact_tuple[1], contact_tuple[2]] for contact_tuple in contact_list], dtype=float)
+    contact_array *= np.max(error_array) / 2
+    # plt.plot(error_list, label="State Error")
+    # plt.plot(contact_count_array, contact_array[:,0], label="Contact 0")
+    # plt.plot(contact_count_array, contact_array[:,1], label="Contact 1")
+    # plt.legend()
+    # plt.show()
+    # Print final state
+    print(filter.get_state())
+
+
+def q_to_rotation_matrix(q):
+    # TODO: use scipy?
+    # Assuming q is a normalized quaternion
+    w, x, y, z = q
+    return np.array([[1 - 2 * y**2 - 2 * z**2, 2 * x * y - 2 * w * z, 2 * x * z + 2 * w * y],
+                     [2 * x * y + 2 * w * z, 1 - 2 * x**2 - 2 * z**2, 2 * y * z - 2 * w * x],
+                     [2 * x * z - 2 * w * y, 2 * y * z + 2 * w * x, 1 - 2 * x**2 - 2 * y**2]])
+
+
+if __name__ == "__main__":
+    main()
+    # cProfile.run("main()")
+
+    # stats = pstats.Stats(pr)
+    # stats.strip_dirs().sort_stats("cumulative").print_stats(20)  # Top 20 cumulative time 
+    
+    # pr = cProfile.Profile()
+    # pr.enable()
+    # main()
+    # pr.disable()
+    # pr.print_stats(sort="cumulative").print_stats(10)
\ No newline at end of file
diff --git a/playground/common/contact_aided_invariant_ekf/lie_group.py b/playground/common/contact_aided_invariant_ekf/lie_group.py
new file mode 100644
index 0000000..ff3536b
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/lie_group.py
@@ -0,0 +1,92 @@
+import numpy as np
+from playground.common.contact_aided_invariant_ekf.utils import CARTESIAN_DIM
+
+TOLERANCE = 1e-10
+SMALL_ANGLE_APPROXIMATION = 1e-6
+
+
+def skew(v: np.ndarray) -> np.ndarray:
+    """
+    Convert a 3D vector to a skew-symmetric matrix 
+    If v has shape (3, N), returns (N, 3, 3) batch of skew-symmetric matrices.
+    """
+    v = np.asarray(v).squeeze()  # Ensure it's at least 1D
+
+    if v.shape == (3,):  
+        v = v[:, None]  # Convert to (3,1) for consistent indexing
+
+    if v.shape[0] != 3:
+        raise ValueError(f"Input must have shape (3,), (3, N), or (N,3), but got {v.shape}")
+
+    if v.ndim == 1:  # Single 3D vector case
+        return np.array([[0, -v[2], v[1]],
+                         [v[2], 0, -v[0]],
+                         [-v[1], v[0], 0]])
+
+    if v.shape[1] == 3:  # Handle (N,3) case by transposing
+        v = v.T
+
+    N = v.shape[1]  # Number of vectors
+    skew_matrices = np.zeros((N, 3, 3))
+
+    skew_matrices[:, 0, 1] = -v[2]  # -z
+    skew_matrices[:, 0, 2] = v[1]   # y
+    skew_matrices[:, 1, 0] = v[2]   # z
+    skew_matrices[:, 1, 2] = -v[0]  # -x
+    skew_matrices[:, 2, 0] = -v[1]  # -y
+    skew_matrices[:, 2, 1] = v[0]   # x
+
+    return skew_matrices[0] if N == 1 else skew_matrices  # Return (3,3) if input was a single vector
+
+
+def exp_so3(w: np.ndarray) -> np.ndarray:
+    """ Computes the vectorized exponential map for SO(3) """
+    A = skew(w)
+    theta = np.linalg.norm(w)
+    if theta < TOLERANCE:
+        return np.eye(CARTESIAN_DIM)
+    elif theta < SMALL_ANGLE_APPROXIMATION:
+        return np.eye(CARTESIAN_DIM) + A
+    return np.eye(CARTESIAN_DIM) + (np.sin(theta)/theta) * A + ((1 - np.cos(theta)) / (theta**2)) * np.dot(A, A)
+
+
+def exp_sek3(v: np.ndarray) -> np.ndarray:
+    """ Computes the vectorized exponential map for SE_K(3) """
+    K = (len(v) - CARTESIAN_DIM) // CARTESIAN_DIM
+    X = np.eye(CARTESIAN_DIM + K)
+    w = v[:CARTESIAN_DIM]
+    theta = np.linalg.norm(w)
+    identity = np.eye(CARTESIAN_DIM)
+
+    if theta < TOLERANCE:
+        R = identity
+        Jl = identity
+    else:
+        A = skew(w)
+        theta2 = theta ** 2
+        stheta = np.sin(theta)
+        ctheta = np.cos(theta)
+        one_minus_cos_theta2 = (1 - ctheta) / theta2
+        A2 = np.dot(A, A)
+        R = identity + (stheta / theta) * A + one_minus_cos_theta2 * A2
+        Jl = identity + one_minus_cos_theta2 * A + ((theta - stheta) / (theta2 * theta)) * A2
+
+    X[:CARTESIAN_DIM, :CARTESIAN_DIM] = R
+    for i in range(K):
+        X[:CARTESIAN_DIM, CARTESIAN_DIM + i] = np.dot(Jl, v[CARTESIAN_DIM + CARTESIAN_DIM * i: 2*CARTESIAN_DIM + CARTESIAN_DIM * i])
+
+    return X
+
+
+def adjoint_sek3(X: np.ndarray) -> np.ndarray:
+    """ Compute Adjoint(X) for X in SE_K(3) """
+    K = X.shape[1] - CARTESIAN_DIM
+    Adj = np.zeros((CARTESIAN_DIM + CARTESIAN_DIM * K, CARTESIAN_DIM + CARTESIAN_DIM * K))
+    R = X[:CARTESIAN_DIM, :CARTESIAN_DIM]
+    Adj[:CARTESIAN_DIM, :CARTESIAN_DIM] = R
+
+    for i in range(K):
+        Adj[CARTESIAN_DIM + CARTESIAN_DIM * i: 6 + CARTESIAN_DIM * i, CARTESIAN_DIM + CARTESIAN_DIM * i: 6 + CARTESIAN_DIM * i] = R
+        Adj[CARTESIAN_DIM + CARTESIAN_DIM * i: 6 + CARTESIAN_DIM * i, :CARTESIAN_DIM] = np.dot(skew(X[:CARTESIAN_DIM, CARTESIAN_DIM + i]), R)
+
+    return Adj
\ No newline at end of file
diff --git a/playground/common/contact_aided_invariant_ekf/noise_params.py b/playground/common/contact_aided_invariant_ekf/noise_params.py
new file mode 100644
index 0000000..aca4c86
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/noise_params.py
@@ -0,0 +1,114 @@
+import numpy as np
+
+
+class NoiseParams:
+    def __init__(
+        self,
+        gyroscope_nosie: float = 0.01,
+        accelerometer_noise: float = 0.1,
+        gyroscope_bias_noise: float = 0.00001,
+        accelerometer_bias_noise: float = 0.0001,
+        landmark_noise: float = 0.1,
+        contact_noise: float = 0.1,
+    ):
+        # Default Constructor
+        self.set_gyroscope_noise(gyroscope_nosie)
+        self.set_accelerometer_noise(accelerometer_noise)
+        self.set_gyroscope_bias_noise(gyroscope_bias_noise)
+        self.set_accelerometer_bias_noise(accelerometer_bias_noise)
+        self.set_landmark_noise(landmark_noise)
+        self.set_contact_noise(contact_noise)
+
+    def set_gyroscope_noise(self, std):
+        self.Qg = std * std * np.identity(3)
+
+    def set_gyroscope_noise_vector(self, std):
+        self.Qg = np.array([[std[0] * std[0], 0, 0],
+                            [0, std[1] * std[1], 0],
+                            [0, 0, std[2] * std[2]]])
+
+    def set_gyroscope_noise_matrix(self, cov):
+        self.Qg = cov
+
+    def set_accelerometer_noise(self, std):
+        self.Qa = std * std * np.identity(3)
+
+    def set_accelerometer_noise_vector(self, std):
+        self.Qa = np.array([[std[0] * std[0], 0, 0],
+                            [0, std[1] * std[1], 0],
+                            [0, 0, std[2] * std[2]]])
+
+    def set_accelerometer_noise_matrix(self, cov):
+        self.Qa = cov
+
+    def set_gyroscope_bias_noise(self, std):
+        self.Qbg = std * std * np.identity(3)
+
+    def set_gyroscope_bias_noise_vector(self, std):
+        self.Qbg = np.array([[std[0] * std[0], 0, 0],
+                             [0, std[1] * std[1], 0],
+                             [0, 0, std[2] * std[2]]])
+
+    def set_gyroscope_bias_noise_matrix(self, cov):
+        self.Qbg = cov
+
+    def set_accelerometer_bias_noise(self, std):
+        self.Qba = std * std * np.identity(3)
+
+    def set_accelerometer_bias_noise_vector(self, std):
+        self.Qba = np.array([[std[0] * std[0], 0, 0],
+                             [0, std[1] * std[1], 0],
+                             [0, 0, std[2] * std[2]]])
+
+    def set_accelerometer_bias_noise_matrix(self, cov):
+        self.Qba = cov
+
+    def set_landmark_noise(self, std):
+        self.Ql = std * std * np.identity(3)
+
+    def set_landmark_noise_vector(self, std):
+        self.Ql = np.array([[std[0] * std[0], 0, 0],
+                            [0, std[1] * std[1], 0],
+                            [0, 0, std[2] * std[2]]])
+
+    def set_landmark_noise_matrix(self, cov):
+        self.Ql = cov
+
+    def set_contact_noise(self, std):
+        self.Qc = std * std * np.identity(3)
+
+    def set_contact_noise_vector(self, std):
+        self.Qc = np.array([[std[0] * std[0], 0, 0],
+                            [0, std[1] * std[1], 0],
+                            [0, 0, std[2] * std[2]]])
+
+    def set_contact_noise_matrix(self, cov):
+        self.Qc = cov
+
+    def get_gyroscope_cov(self):
+        return self.Qg
+
+    def get_accelerometer_cov(self):
+        return self.Qa
+
+    def get_gyroscope_bias_cov(self):
+        return self.Qbg
+
+    def get_accelerometer_bias_cov(self):
+        return self.Qba
+
+    def get_landmark_cov(self):
+        return self.Ql
+
+    def get_contact_cov(self):
+        return self.Qc
+
+    def __str__(self):
+        return (f"--------- Noise Params -------------\n"
+                f"Gyroscope Covariance:\n{self.Qg}\n"
+                f"Accelerometer Covariance:\n{self.Qa}\n"
+                f"Gyroscope Bias Covariance:\n{self.Qbg}\n"
+                f"Accelerometer Bias Covariance:\n{self.Qba}\n"
+                f"Landmark Covariance:\n{self.Ql}\n"
+                f"Contact Covariance:\n{self.Qc}\n"
+                f"-----------------------------------")
diff --git a/playground/common/contact_aided_invariant_ekf/observation.py b/playground/common/contact_aided_invariant_ekf/observation.py
new file mode 100644
index 0000000..cad1064
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/observation.py
@@ -0,0 +1,32 @@
+import numpy as np
+
+
+def check_measurement_is_empty(Y: np.ndarray):
+    return Y.shape[0] == 0
+
+
+class Observation:
+    def __init__(
+            self, Y: np.ndarray,
+            b: np.ndarray,
+            H: np.ndarray,
+            N: np.ndarray,
+            PI: np.ndarray
+    ):
+        self.Y = Y
+        self.b = b
+        self.H = H
+        self.N = N
+        self.PI = PI
+
+    def is_empty(self):
+        return check_measurement_is_empty(self.Y)
+
+    def __str__(self):
+        return ("---------- Observation ------------\n"
+                f"Y:\n{self.Y}\n\n"
+                f"b:\n{self.b}\n\n"
+                f"H:\n{self.H}\n\n"
+                f"N:\n{self.N}\n\n"
+                f"PI:\n{self.PI}\n"
+                "-----------------------------------")
\ No newline at end of file
diff --git a/playground/common/contact_aided_invariant_ekf/robot_kinematics.py b/playground/common/contact_aided_invariant_ekf/robot_kinematics.py
new file mode 100644
index 0000000..d6d01c9
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/robot_kinematics.py
@@ -0,0 +1,32 @@
+import numpy as np
+from typing import Callable
+
+
+class Kinematics:
+    def __init__(self, id_in: int, pose_in: np.ndarray, covariance_in: np.ndarray):
+        """
+        Kinematics class to store kinematic measurements and their covariance.
+
+        Parameters:
+        - id_in (int): Identifier for the measurement.
+        - pose_in (np.ndarray): 4x4 transformation matrix computed by Kinematics.
+        - covariance_in (np.ndarray): 6x6 covariance matrix computed by the corresponding Kinematic Jacobian.
+        """
+        assert pose_in.shape == (4, 4), "Pose must be a 4x4 matrix."
+        assert covariance_in.shape == (6, 6), "Covariance must be a 6x6 matrix."
+        
+        self.id = id_in
+        self.pose = pose_in
+        self.covariance = covariance_in
+
+
+def compute_kinematics_covariance(
+    joint_positions: np.ndarray,
+    contact_cov: np.ndarray,
+    body_jacobian_functor: Callable[[np.ndarray], np.ndarray]
+) -> np.ndarray:
+    """
+    Note: errors have been defined with right-invariance (meaning body expressed in the body frame). Therefore, we need the body Jacobian of SE(3).
+    """
+    body_jacobian = body_jacobian_functor(joint_positions)
+    return body_jacobian @ contact_cov @ body_jacobian.T
\ No newline at end of file
diff --git a/playground/common/contact_aided_invariant_ekf/robot_state.py b/playground/common/contact_aided_invariant_ekf/robot_state.py
new file mode 100644
index 0000000..2d1b21d
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/robot_state.py
@@ -0,0 +1,125 @@
+import numpy as np
+from typing import Optional
+from playground.common.contact_aided_invariant_ekf.utils import CARTESIAN_DIM, RIGID_TRANSFORM_SIZE
+
+
+def set_array_w_different_shape(
+    array_to_set: np.ndarray,
+    array_w_different_shape: np.ndarray
+):
+    return np.reshape(array_w_different_shape, array_to_set.shape)
+
+
+class RobotState:
+    """
+    Robot state
+    X = [R_WB, v_B, p_WB, p_C1, p_C2]
+    P = Covariance
+    """
+    def __init__(
+            self,
+            X: Optional[np.ndarray] = None,
+            Theta: Optional[np.ndarray] = None,
+            P: Optional[np.ndarray] = None
+    ):
+        if X is None:
+            X = np.eye(5)
+        if Theta is None:
+            Theta = np.zeros((2*CARTESIAN_DIM, 1))
+        
+        self.X_ = X
+        self.Theta_ = Theta
+        
+        if P is None:
+            P = np.eye(CARTESIAN_DIM * self.dim_x() + self.dim_theta() - 2*CARTESIAN_DIM)
+
+        self.P_ = P
+    
+    def get_x(self) -> np.ndarray:
+        return self.X_.copy()
+
+    def get_theta(self) -> np.ndarray:
+        return self.Theta_.copy()
+
+    def get_p(self) -> np.ndarray:
+        return self.P_.copy()
+
+    def get_rotation(self) -> np.ndarray:
+        return self.X_[:CARTESIAN_DIM, :CARTESIAN_DIM].copy()
+
+    def get_velocity(self) -> np.ndarray:
+        return self.X_[:CARTESIAN_DIM, CARTESIAN_DIM].copy()
+
+    def get_position(self) -> np.ndarray:
+        return self.X_[:CARTESIAN_DIM, RIGID_TRANSFORM_SIZE].copy()
+
+    def get_gyroscope_bias(self) -> np.ndarray:
+        return self.Theta_[:CARTESIAN_DIM].copy()
+
+    def get_accelerometer_bias(self) -> np.ndarray:
+        return self.Theta_[-CARTESIAN_DIM:].copy()
+
+    def dim_x(self) -> np.ndarray:
+        return self.X_.shape[1]
+
+    def dim_theta(self) -> np.ndarray:
+        return self.Theta_.shape[0]
+
+    def dim_p(self) -> np.ndarray:
+        return self.P_.shape[1]
+
+    def set_x(self, X: np.ndarray):
+        self.X_ = X
+
+    def set_theta(self, Theta: np.ndarray):
+        self.Theta_ = Theta
+
+    def set_p(self, P: np.ndarray):
+        self.P_ = P
+
+    def set_rotation(self, R: np.ndarray):
+        self.X_[:CARTESIAN_DIM, :CARTESIAN_DIM] = R.copy()
+
+    def set_velocity(self, v: np.ndarray):
+        self.X_[:CARTESIAN_DIM, CARTESIAN_DIM] = v.reshape(
+            self.X_[:CARTESIAN_DIM, CARTESIAN_DIM].shape
+        ).copy()
+
+    def set_position(self, p: np.ndarray):
+        self.X_[:CARTESIAN_DIM, CARTESIAN_DIM + 1] = p.reshape(
+            self.X_[:CARTESIAN_DIM, CARTESIAN_DIM + 1].shape
+        ).copy()
+
+    def set_gyroscope_bias(self, bg: np.ndarray):
+        bg = self.Theta_[:CARTESIAN_DIM] = bg.reshape(
+            self.Theta_[:CARTESIAN_DIM].shape
+        )
+
+    def set_accelerometer_bias(self, ba: np.ndarray):
+        ba = ba.reshape(
+            self.Theta_[-CARTESIAN_DIM:].shape
+        )
+
+    def copy_diag_x(self, n):
+        """
+        Create a block diagonal matrix with X as the diagonal elements.
+        """
+        dimX = self.dim_x()
+
+        # Create a list of n identity blocks of size (dimX, dimX)
+        blocks = [np.eye(dimX) for _ in range(n)]
+
+        # Create a list of `X_` blocks along the diagonal
+        blocks = [self.X_ if i == j else np.zeros((dimX, dimX)) for i in range(n) for j in range(n)]
+
+        # Reshape into a (n, n) structure and use np.block to assemble the matrix
+        BigX = np.block([[blocks[i * n + j] for j in range(n)] for i in range(n)])
+    
+        return BigX
+
+    def __str__(self) -> str:
+        return ("--------- Robot State -------------\n"
+                    f"X:\n{self.X_}\n\n"
+                    f"Theta:\n{self.Theta_}\n\n"
+                    f"P:\n{self.P_}\n"
+                    "-----------------------------------")
\ No newline at end of file
diff --git a/playground/common/contact_aided_invariant_ekf/utils.py b/playground/common/contact_aided_invariant_ekf/utils.py
new file mode 100644
index 0000000..ca731f7
--- /dev/null
+++ b/playground/common/contact_aided_invariant_ekf/utils.py
@@ -0,0 +1,18 @@
+import numpy as np
+CARTESIAN_DIM = 3
+RIGID_TRANSFORM_SIZE = 4
+GRAVITY_ACCELERATION = -9.81
+
+
+def remove_row_and_column(M, index):
+    # dim_x = M.shape[1]
+    # # Print statement for debugging (similar to the C++ code)
+    # # print(f"Removing index: {index}")
+
+    # Remove the row
+    M = np.delete(M, index, axis=0)
+
+    # Remove the column
+    M = np.delete(M, index, axis=1)
+
+    return M
diff --git a/playground/common/export_onnx.py b/playground/common/export_onnx.py
index a1c445f..170b534 100644
--- a/playground/common/export_onnx.py
+++ b/playground/common/export_onnx.py
@@ -147,7 +147,7 @@ def transfer_weights(jax_params, tf_model):
 
         print("Weights transferred successfully.")
 
-    transfer_weights(params[1].policy["params"], tf_policy_network)
+    transfer_weights(params[1]["params"], tf_policy_network)
 
     # Example inputs for the model
     test_input = [np.ones((1, obs_size), dtype=np.float32)]
diff --git a/playground/common/poly_reference_motion.py b/playground/common/poly_reference_motion.py
index 62326af..d26311a 100644
--- a/playground/common/poly_reference_motion.py
+++ b/playground/common/poly_reference_motion.py
@@ -174,14 +174,15 @@ def get_reference_motion(self, dx, dy, dtheta, i):
         "playground/open_duck_mini_v2/data/polynomial_coefficients.pkl"
     )
     vals = []
-    select_dim = -1
-    for i in range(PRM.nb_steps_in_period):
-        vals.append(PRM.get_reference_motion(0.0, -0.05, -0.1, i)[select_dim])
+    total = 10 * PRM.nb_steps_in_period
+    # select_dim = 
+    for i in range(total):
+        vals.append(PRM.get_reference_motion(-0.05, -0.0, -0.0, i)[34]) # 32
 
     # plot
     import matplotlib.pyplot as plt
     import numpy as np
 
-    ts = np.arange(0, PRM.nb_steps_in_period)
+    ts = np.arange(0, total)
     plt.plot(ts, vals)
     plt.show()
diff --git a/playground/open_duck_mini_v2/custom_rewards.py b/playground/open_duck_mini_v2/custom_rewards.py
index 018e42c..123904a 100644
--- a/playground/open_duck_mini_v2/custom_rewards.py
+++ b/playground/open_duck_mini_v2/custom_rewards.py
@@ -138,7 +138,7 @@ def reward_imitation(
         lin_vel_xy_rew
         + lin_vel_z_rew
         + ang_vel_xy_rew
-        + ang_vel_z_rew
+        # + ang_vel_z_rew
         + joint_pos_rew
         + joint_vel_rew
         + contact_rew
diff --git a/playground/open_duck_mini_v2/joystick.py b/playground/open_duck_mini_v2/joystick.py
index 6e98371..00d31b3 100644
--- a/playground/open_duck_mini_v2/joystick.py
+++ b/playground/open_duck_mini_v2/joystick.py
@@ -47,6 +47,47 @@
 USE_MOTOR_SPEED_LIMITS = True
 
 
+def quat_to_rot_matrix(q: jp.array):
+    """Assumes input quaternion is [w, x, y, z]"""
+    w, x, y, z = q
+
+    # Normalize quaternion to ensure proper rotation matrix
+    norm = jp.sqrt(w**2 + x**2 + y**2 + z**2)
+    w, x, y, z = w / norm, x / norm, y / norm, z / norm
+
+    return jp.array([
+        [1 - 2*y**2 - 2*z**2,     2*x*y - 2*z*w,     2*x*z + 2*y*w],
+        [2*x*y + 2*z*w,     1 - 2*x**2 - 2*z**2,     2*y*z - 2*x*w],
+        [2*x*z - 2*y*w,     2*y*z + 2*x*w,     1 - 2*x**2 - 2*y**2]
+    ])
+
+def axis_angle_to_rotation(axis_angle: jp.ndarray) -> jp.ndarray:
+    """
+    Converts an axis-angle vector to a rotation matrix using Rodrigues' formula.
+    
+    Args:
+        axis_angle: jp.ndarray of shape (3,), representing axis * angle
+    
+    Returns:
+        A 3x3 rotation matrix as a jnp.ndarray
+    """
+    theta = jp.linalg.norm(axis_angle)
+    def zero_rotation():
+        return jp.eye(3)
+
+    def nonzero_rotation():
+        axis = axis_angle / theta
+        x, y, z = axis
+        K = jp.array([[  0, -z,  y],
+                       [  z,  0, -x],
+                       [ -y,  x,  0]])
+        I = jp.eye(3)
+        R = I + jp.sin(theta) * K + (1 - jp.cos(theta)) * (K @ K)
+        return R
+
+    return jax.lax.cond(theta < 1e-6, zero_rotation, nonzero_rotation)
+
+
 def default_config() -> config_dict.ConfigDict:
     return config_dict.create(
         ctrl_dt=0.02,
@@ -76,6 +117,7 @@ def default_config() -> config_dict.ConfigDict:
                 linvel=0.1,
                 gyro=0.1,
                 accelerometer=0.05,
+                rotation = np.pi/12,
             ),
         ),
         reward_config=config_dict.create(
@@ -207,6 +249,19 @@ def _post_init(self) -> None:
         # self.action_filter = LowPassActionFilter(
         #     1 / self._config.ctrl_dt, cutoff_frequency=37.5
         # )
+        self.imu_id = self._mj_model.body("imu").id
+        self.feet_ids = {
+            0: self._mj_model.body("foot_assembly").id,
+            1: self._mj_model.body("foot_assembly_2").id,
+        }
+
+    def get_pose_from_id(self, data, id: str) -> jp.ndarray:
+        pos = data.xpos[id]
+        quat = data.xquat[id]
+        pose = jp.eye(4)
+        pose = pose.at[:3, :3].set(quat_to_rot_matrix(quat))
+        pose = pose.at[:3, 3].set(pos)
+        return pose
 
     def reset(self, rng: jax.Array) -> mjx_env.State:
         qpos = self._init_q  # the complete qpos
@@ -598,11 +653,40 @@ def _get_obs(
         #     * self._config.noise_config.scales.linvel
         # )
 
+        # TODO add noise.
+        imu_pose_world = self.get_pose_from_id(data, self.imu_id)
+        rotation_world = imu_pose_world[0:3, 0:3]
+        translation_world = imu_pose_world[0:3, 3]
+
+        info["rng"], noise_rng = jax.random.split(info["rng"])
+        rotation_noise = (
+            (2.0 * jax.random.uniform(noise_rng, shape=(3,)) - 1.0)
+            * self._config.noise_config.level
+            * self._config.noise_config.scales.rotation
+        )
+
+        noisy_rotation_world = axis_angle_to_rotation(rotation_noise) @ rotation_world
+        noisy_rotation_world_6d = noisy_rotation_world[:, 0:2].flatten()
+
+        floating_base_vel_world = data.qvel[self._floating_base_qvel_addr:self._floating_base_qvel_addr + 6]
+        floating_base_vel_body = rotation_world.T @ floating_base_vel_world[0:3]
+
+        info["rng"], noise_rng = jax.random.split(info["rng"])
+        noisy_floating_base_vel_body = (
+            floating_base_vel_body
+            + (2.0 * jax.random.uniform(noise_rng, shape=jp.shape(floating_base_vel_body)) - 1.0) 
+            * self._config.noise_config.level
+            * self._config.noise_config.scales.linvel
+        )
+
         state = jp.hstack(
             [
                 # noisy_linvel,  # 3
                 # noisy_gyro,  # 3
                 # noisy_gravity,  # 3
+                noisy_rotation_world_6d,
+                # translation_world,
+                noisy_floating_base_vel_body,
                 noisy_gyro,  # 3
                 noisy_accelerometer,  # 3
                 info["command"],  # 7
@@ -663,10 +747,17 @@ def _get_reward(
     ) -> dict[str, jax.Array]:
         del metrics  # Unused.
 
+        # Used to get linvel. lin vel sensor is not accurate.
+        imu_pose_world = self.get_pose_from_id(data, self.imu_id)
+        rotation_world = imu_pose_world[0:3, 0:3]
+        floating_base_vel_world = self.get_floating_base_qvel(data.qvel)
+        floating_base_vel_body = rotation_world.T @ floating_base_vel_world[0:3]
+
         ret = {
             "tracking_lin_vel": reward_tracking_lin_vel(
                 info["command"],
-                self.get_local_linvel(data),
+                # self.get_local_linvel(data),
+                floating_base_vel_body,
                 self._config.reward_config.tracking_sigma,
             ),
             "tracking_ang_vel": reward_tracking_ang_vel(
diff --git a/playground/open_duck_mini_v2/mujoco_infer.py b/playground/open_duck_mini_v2/mujoco_infer.py
index a27fb37..2ba56fa 100644
--- a/playground/open_duck_mini_v2/mujoco_infer.py
+++ b/playground/open_duck_mini_v2/mujoco_infer.py
@@ -6,6 +6,7 @@
 import time
 import argparse
 from etils import epath
+from scipy.spatial.transform import Rotation as sp_R
 from playground.common.onnx_infer import OnnxInfer
 from playground.common.poly_reference_motion_numpy import PolyReferenceMotion
 from playground.common.utils import LowPassActionFilter
@@ -13,12 +14,19 @@
 # from playground.open_duck_mini_v2 import constants
 from playground.open_duck_mini_v2 import base
 
+from playground.common.contact_aided_invariant_ekf.contact_aided_invariant_ekf import (
+    RightInEKF,
+)
+from playground.common.contact_aided_invariant_ekf.robot_state import RobotState
+from playground.common.contact_aided_invariant_ekf.noise_params import NoiseParams
+from playground.common.contact_aided_invariant_ekf.drake_kinematics import DrakeKinematics
+
 USE_MOTOR_SPEED_LIMITS = True
 
 
 class MjInfer:
     def __init__(
-        self, model_path: str, reference_data: str, onnx_model_path: str, standing: bool
+        self, model_path: str, reference_data: str, onnx_model_path: str, standing: bool, urdf_model_path: str
     ):
         self.model = mujoco.MjModel.from_xml_string(
             epath.Path(model_path).read_text(), assets=base.get_assets()
@@ -105,6 +113,10 @@ def __init__(
             0
         ]  # Assuming there is only one floating base! the jnt_type==0 is a floating joint. 3 is a hinge
 
+        self.actuator_name_to_idx_map = {
+            n: self.get_joint_addr_from_name(n) for n in self.actuator_names
+        }
+
         self._floating_base_id = self.model.joint(self.floating_base_name).id
 
         # self.all_joint_no_backlash_ids=np.zeros(7+self.model.nu)
@@ -187,6 +199,65 @@ def __init__(
         print(f"backlash joint names: {self.backlash_joint_names}")
         # print(f"actual joints idx: {self.get_actual_joints_idx()}")
 
+        # Gather body and feet id
+        self.imu_id = self.data.body("imu").id
+        self.feet_ids = {
+            0: self.data.body("foot_assembly").id,
+            1: self.data.body("foot_assembly_2").id,
+        }
+
+        # If unknown, set to identity.
+        initial_pose = self.get_pose_from_id(self.data, self.imu_id)
+
+        # Convert to rotation matrix
+        body_rotation_matrix = initial_pose[0:3, 0:3]
+        self.ekf_noise_params = NoiseParams() # TODO: put in real
+        # self.ekf_noise_params.set_gyroscope_bias_noise(1e-6)
+        # ekf_noise_params.set_contact_noise(0.5)
+        ekf_robot_state = RobotState()
+        ekf_robot_state.set_position(initial_pose[0:3, 3])
+        ekf_robot_state.set_rotation(body_rotation_matrix)
+        ekf_robot_state.set_velocity(np.zeros(3))
+        self._ekf = RightInEKF(ekf_robot_state, self.ekf_noise_params)
+
+        # Define the forward kinematics source.
+        self.drake_kinematics = DrakeKinematics(
+            imu_frame_name="imu",
+            urdf_model_path=urdf_model_path,
+            end_effector_frame_name_to_id_map={
+                "foot_assembly": 0,
+                "foot_assembly_2": 1,
+            },
+            # From URDF assembly to foot. And then add additional padding from foot link to bottom of foot.
+            end_effector_offset_map={
+                "foot_assembly": [0.0005, -0.036225 - 0.008, 0.01955],
+                "foot_assembly_2": [0.0005, -0.036225 - 0.008, 0.01955],
+            },
+        )
+
+        # Define the mapping from mujoco index to drake index
+        self.mask = np.zeros(
+            len(self.drake_kinematics.joint_name_to_idx_map), dtype=int
+        )
+        for name, idx in self.drake_kinematics.joint_name_to_idx_map.items():
+            self.mask[idx] = self.actuator_name_to_idx_map[name]
+
+        covariance_scaling_factor = 10.0 # Just using a random scaling term to sample initial biases. Then these covariances are used to do a random walk.
+        self.gyro_bias = np.random.multivariate_normal(np.zeros(3), covariance_scaling_factor*self.ekf_noise_params.get_gyroscope_bias_cov())
+        self.accelerometer_bias = np.random.multivariate_normal(np.zeros(3), covariance_scaling_factor*self.ekf_noise_params.get_accelerometer_bias_cov())
+
+        # grab initial sim time
+        self.prev_sim_time = self.data.time
+        self.ekf_imu_measurement_prev = np.zeros(6)
+    
+    def get_pose_from_id(self, data, id: str) -> np.ndarray:
+        pos = data.xpos[id]
+        quat = data.xquat[id]
+        pose = np.eye(4)
+        pose[:3, :3] = sp_R.from_quat(quat, scalar_first=True).as_matrix()
+        pose[:3, 3] = pos
+        return pose
+
     def get_actuator_id_from_name(self, name: str) -> int:
         """Return the id of a specified actuator"""
         return mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_ACTUATOR, name)
@@ -341,6 +412,8 @@ def get_obs(
         self,
         data,
         command,  # , qvel_history, qpos_error_history, gravity_history
+        use_ekf: bool = False,
+        correct_kin: bool = False
     ):
         gyro = self.get_gyro(data)
         accelerometer = self.get_accelerometer(data)
@@ -355,8 +428,56 @@ def get_obs(
         # if not self.standing:
         # ref = self.PRM.get_reference_motion(*command[:3], self.imitation_i)
 
+        ekf_imu_measurement = np.zeros(6)
+        ekf_imu_measurement[0:3] = gyro
+        ekf_imu_measurement[3:6] = accelerometer
+
+        current_sim_time = data.time
+        elapsed_sim_time = current_sim_time - self.prev_sim_time
+        self._ekf.propagate(
+            self.ekf_imu_measurement_prev,  # use previous measurement.
+            dt=elapsed_sim_time,
+        )
+
+        # Update prev sim time
+        self.prev_sim_time = current_sim_time
+
+        self.ekf_imu_measurement_prev = ekf_imu_measurement.copy()
+
+        ekf_contact_measurement = [(idx, contacts[idx]) for idx in range(len(contacts))]
+        self._ekf.set_contacts(ekf_contact_measurement)
+        joint_uncertainty = 1e-3
+        feet_to_kinematics_map = self.drake_kinematics.compute_kinematics(
+            data.qpos[self.mask],
+            joint_uncertainty * np.eye(len(joint_angles)),
+        )
+
+        if correct_kin:
+            self._ekf.correct_kinematics(
+                measured_kinematics=list(feet_to_kinematics_map.values())
+            )
+
+        estimated_state = self._ekf.get_state()
+
+        if not use_ekf:
+            imu_pose_world = self.get_pose_from_id(data, self.imu_id)
+            rotation_world = imu_pose_world[0:3, 0:3]
+            translation_world = imu_pose_world[0:3, 3]
+            floating_base_vel_world = data.qvel[self._floating_base_qvel_addr:self._floating_base_qvel_addr + 6]
+        else:
+            rotation_world = estimated_state.get_rotation()
+            translation_world = estimated_state.get_position()
+            floating_base_vel_world = estimated_state.get_velocity()
+
+
+        rotation_world_6d = rotation_world[:,0:2].flatten()
+        floating_base_vel_body = rotation_world.T @ floating_base_vel_world[0:3]
+
         obs = np.concatenate(
-            [
+            [   
+                rotation_world_6d,
+                # translation_world,
+                floating_base_vel_body,
                 gyro,
                 accelerometer,
                 # gravity,
@@ -474,10 +595,12 @@ def run(self):
                         obs = self.get_obs(
                             self.data,
                             self.commands,
+                            use_ekf=True,
+                            correct_kin=True
                         )
-
-                        self.obs_history = np.roll(self.obs_history, 45)
-                        self.obs_history[:45] = obs
+                        magic_number = 45 + 6 + 3 # 6d pose, lin vel
+                        self.obs_history = np.roll(self.obs_history, magic_number)
+                        self.obs_history[:magic_number] = obs
                         obs = self.obs_history
 
                         self.saved_obs.append(obs)
@@ -537,11 +660,16 @@ def run(self):
         type=str,
         default="playground/open_duck_mini_v2/xmls/scene_flat_terrain.xml",
     )
+    parser.add_argument(
+        "--urdf_model_path",
+        type=str,
+        required=True
+    )
     parser.add_argument("--standing", action="store_true", default=False)
 
     args = parser.parse_args()
 
     mjinfer = MjInfer(
-        args.model_path, args.reference_data, args.onnx_model_path, args.standing
+        args.model_path, args.reference_data, args.onnx_model_path, args.standing, urdf_model_path = args.urdf_model_path
     )
     mjinfer.run()
diff --git a/playground/open_duck_mini_v2/urdfs/assets/antenna.part b/playground/open_duck_mini_v2/urdfs/assets/antenna.part
new file mode 100644
index 0000000..c4fa9d2
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/antenna.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MmXLbiyIJZ1T9tiX3",
+    "isStandardContent": false,
+    "name": "antenna <1>",
+    "partId": "RuOD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/antenna.stl b/playground/open_duck_mini_v2/urdfs/assets/antenna.stl
new file mode 100644
index 0000000..07eb706
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/antenna.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/battery_pack_lid.part b/playground/open_duck_mini_v2/urdfs/assets/battery_pack_lid.part
new file mode 100644
index 0000000..af53488
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/battery_pack_lid.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MvOQ01tQlVV+zSv63",
+    "isStandardContent": false,
+    "name": "battery_pack_lid <1>",
+    "partId": "R5OD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/battery_pack_lid.stl b/playground/open_duck_mini_v2/urdfs/assets/battery_pack_lid.stl
new file mode 100644
index 0000000..076eb25
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/battery_pack_lid.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/bms.part b/playground/open_duck_mini_v2/urdfs/assets/bms.part
new file mode 100644
index 0000000..d5e0fd2
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/bms.part
@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "a18ff8cc622a533762a3a6f5",
+    "documentMicroversion": "f5e1d9417006aed4e8eece17",
+    "documentVersion": "94881018f8994675184c1f42",
+    "elementId": "20dad50bf4a254b818c813f7",
+    "fullConfiguration": "default",
+    "id": "MqEGDvIKFH4SpUaCn",
+    "isStandardContent": false,
+    "name": "bms <1>",
+    "partId": "JSD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/bms.stl b/playground/open_duck_mini_v2/urdfs/assets/bms.stl
new file mode 100644
index 0000000..4598b81
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/bms.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/bno055.part b/playground/open_duck_mini_v2/urdfs/assets/bno055.part
new file mode 100644
index 0000000..31c1864
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/bno055.part
@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "a18ff8cc622a533762a3a6f5",
+    "documentMicroversion": "f5e1d9417006aed4e8eece17",
+    "documentVersion": "94881018f8994675184c1f42",
+    "elementId": "58e35a434b8265113623a1c6",
+    "fullConfiguration": "default",
+    "id": "MCK/voA1KPjJiuZRD",
+    "isStandardContent": false,
+    "name": "BNO055 <1>",
+    "partId": "JHD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/bno055.stl b/playground/open_duck_mini_v2/urdfs/assets/bno055.stl
new file mode 100644
index 0000000..6de1ee7
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/bno055.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/board.part b/playground/open_duck_mini_v2/urdfs/assets/board.part
new file mode 100644
index 0000000..fd7767f
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/board.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "fbc3ecd1071c724f4d859dd6",
+    "fullConfiguration": "default",
+    "id": "MxRZVYwGEp1Sig2/i",
+    "isStandardContent": false,
+    "name": "Board <1>",
+    "partId": "JFD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/board.stl b/playground/open_duck_mini_v2/urdfs/assets/board.stl
new file mode 100644
index 0000000..f2f3da5
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/board.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/body_back.part b/playground/open_duck_mini_v2/urdfs/assets/body_back.part
new file mode 100644
index 0000000..ddd0e80
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/body_back.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MfCA08JspCUYCoOzy",
+    "isStandardContent": false,
+    "name": "body_back <1>",
+    "partId": "RqKD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/body_back.stl b/playground/open_duck_mini_v2/urdfs/assets/body_back.stl
new file mode 100644
index 0000000..b6692ac
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/body_back.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/body_front.part b/playground/open_duck_mini_v2/urdfs/assets/body_front.part
new file mode 100644
index 0000000..9b9ab45
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/body_front.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MAILAHna+4EMDjwEB",
+    "isStandardContent": false,
+    "name": "body_front <1>",
+    "partId": "RbKD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/body_front.stl b/playground/open_duck_mini_v2/urdfs/assets/body_front.stl
new file mode 100644
index 0000000..fa76bb4
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/body_front.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/body_middle_bottom.part b/playground/open_duck_mini_v2/urdfs/assets/body_middle_bottom.part
new file mode 100644
index 0000000..fd48081
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/body_middle_bottom.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "Mi7/ZBgz7j8FhNN8n",
+    "isStandardContent": false,
+    "name": "body_middle_bottom <1>",
+    "partId": "R/KH",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/body_middle_bottom.stl b/playground/open_duck_mini_v2/urdfs/assets/body_middle_bottom.stl
new file mode 100644
index 0000000..9c8ccee
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/body_middle_bottom.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/body_middle_top.part b/playground/open_duck_mini_v2/urdfs/assets/body_middle_top.part
new file mode 100644
index 0000000..e41d2c5
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/body_middle_top.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MwLs2m7WqJdIp5rCM",
+    "isStandardContent": false,
+    "name": "body_middle_top <1>",
+    "partId": "R/KD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/body_middle_top.stl b/playground/open_duck_mini_v2/urdfs/assets/body_middle_top.stl
new file mode 100644
index 0000000..5530f0b
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/body_middle_top.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/cell.part b/playground/open_duck_mini_v2/urdfs/assets/cell.part
new file mode 100644
index 0000000..c7c9417
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/cell.part
@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "a18ff8cc622a533762a3a6f5",
+    "documentMicroversion": "f5e1d9417006aed4e8eece17",
+    "documentVersion": "94881018f8994675184c1f42",
+    "elementId": "20dad50bf4a254b818c813f7",
+    "fullConfiguration": "default",
+    "id": "Mx1gCi95bgVKmQGMH",
+    "isStandardContent": false,
+    "name": "cell <2>",
+    "partId": "JHD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/cell.stl b/playground/open_duck_mini_v2/urdfs/assets/cell.stl
new file mode 100644
index 0000000..20e4cc3
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/cell.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/drive_palonier.part b/playground/open_duck_mini_v2/urdfs/assets/drive_palonier.part
new file mode 100644
index 0000000..52a07d3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/drive_palonier.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "d386542214948bc90a7bc881",
+    "fullConfiguration": "default",
+    "id": "MHjgEclEhEZQK/p6r",
+    "isStandardContent": false,
+    "name": "drive_palonier <1>",
+    "partId": "JJD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/drive_palonier.stl b/playground/open_duck_mini_v2/urdfs/assets/drive_palonier.stl
new file mode 100644
index 0000000..66e60e4
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/drive_palonier.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_pla.part b/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_pla.part
new file mode 100644
index 0000000..d876e33
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_pla.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MbWaXbNFhwXrvfPr1",
+    "isStandardContent": false,
+    "name": "foot_bottom_pla <1>",
+    "partId": "R7GH",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_pla.stl b/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_pla.stl
new file mode 100644
index 0000000..66feed7
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_pla.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_tpu.part b/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_tpu.part
new file mode 100644
index 0000000..6b37d3a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_tpu.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MSRJjnMROc2yqGlBV",
+    "isStandardContent": false,
+    "name": "foot_bottom_tpu <1>",
+    "partId": "R7GD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_tpu.stl b/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_tpu.stl
new file mode 100644
index 0000000..4f05326
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/foot_bottom_tpu.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/foot_side.part b/playground/open_duck_mini_v2/urdfs/assets/foot_side.part
new file mode 100644
index 0000000..b35a88b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/foot_side.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "M9QvdrmpVd96BQQ3J",
+    "isStandardContent": false,
+    "name": "foot_side <1>",
+    "partId": "RsGD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/foot_side.stl b/playground/open_duck_mini_v2/urdfs/assets/foot_side.stl
new file mode 100644
index 0000000..20a434e
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/foot_side.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/foot_top.part b/playground/open_duck_mini_v2/urdfs/assets/foot_top.part
new file mode 100644
index 0000000..44b9fc9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/foot_top.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MryNg763VjsN4xBWU",
+    "isStandardContent": false,
+    "name": "foot_top <1>",
+    "partId": "RsGH",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/foot_top.stl b/playground/open_duck_mini_v2/urdfs/assets/foot_top.stl
new file mode 100644
index 0000000..0d08c19
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/foot_top.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head.part b/playground/open_duck_mini_v2/urdfs/assets/head.part
new file mode 100644
index 0000000..e377a37
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/head.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MGPnRRHSCLRuHbf9s",
+    "isStandardContent": false,
+    "name": "head <1>",
+    "partId": "RXMD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head.stl b/playground/open_duck_mini_v2/urdfs/assets/head.stl
new file mode 100644
index 0000000..2a101fd
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/head.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head_bot_sheet.part b/playground/open_duck_mini_v2/urdfs/assets/head_bot_sheet.part
new file mode 100644
index 0000000..b0ce6c3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/head_bot_sheet.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MB88Zh5nm8uQRQJB5",
+    "isStandardContent": false,
+    "name": "head_bot_sheet <1>",
+    "partId": "RxMD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head_bot_sheet.stl b/playground/open_duck_mini_v2/urdfs/assets/head_bot_sheet.stl
new file mode 100644
index 0000000..c565ba6
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/head_bot_sheet.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head_pitch_to_yaw.part b/playground/open_duck_mini_v2/urdfs/assets/head_pitch_to_yaw.part
new file mode 100644
index 0000000..b3b7876
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/head_pitch_to_yaw.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MMYrJ8GU6Tulh9Ezl",
+    "isStandardContent": false,
+    "name": "head_pitch_to_yaw <1>",
+    "partId": "RGCD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head_pitch_to_yaw.stl b/playground/open_duck_mini_v2/urdfs/assets/head_pitch_to_yaw.stl
new file mode 100644
index 0000000..1de8aef
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/head_pitch_to_yaw.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head_roll_mount.part b/playground/open_duck_mini_v2/urdfs/assets/head_roll_mount.part
new file mode 100644
index 0000000..eef2d92
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/head_roll_mount.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MRmftgtax43WG3TM4",
+    "isStandardContent": false,
+    "name": "head_roll_mount <1>",
+    "partId": "RMND",
+    "suppressed": false,
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\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head_roll_mount.stl b/playground/open_duck_mini_v2/urdfs/assets/head_roll_mount.stl
new file mode 100644
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/head_roll_mount.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head_yaw_to_roll.part b/playground/open_duck_mini_v2/urdfs/assets/head_yaw_to_roll.part
new file mode 100644
index 0000000..8bf9328
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/head_yaw_to_roll.part
@@ -0,0 +1,13 @@
+{
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+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/head_yaw_to_roll.stl b/playground/open_duck_mini_v2/urdfs/assets/head_yaw_to_roll.stl
new file mode 100644
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/head_yaw_to_roll.stl differ
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new file mode 100644
index 0000000..cd32e37
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/holder.part
@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
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+}
\ No newline at end of file
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/holder.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_antenna_holder.part b/playground/open_duck_mini_v2/urdfs/assets/left_antenna_holder.part
new file mode 100644
index 0000000..da68d2a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/left_antenna_holder.part
@@ -0,0 +1,13 @@
+{
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+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+    "name": "left_antenna_holder <1>",
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+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_antenna_holder.stl b/playground/open_duck_mini_v2/urdfs/assets/left_antenna_holder.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/left_antenna_holder.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_cache.part b/playground/open_duck_mini_v2/urdfs/assets/left_cache.part
new file mode 100644
index 0000000..55d3efd
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/left_cache.part
@@ -0,0 +1,13 @@
+{
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+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_cache.stl b/playground/open_duck_mini_v2/urdfs/assets/left_cache.stl
new file mode 100644
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/left_cache.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_left_sheet.part b/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_left_sheet.part
new file mode 100644
index 0000000..3c6a790
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_left_sheet.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
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+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_left_sheet.stl b/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_left_sheet.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_left_sheet.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_right_sheet.part b/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_right_sheet.part
new file mode 100644
index 0000000..e88575f
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_right_sheet.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+    "fullConfiguration": "default",
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+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_right_sheet.stl b/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_right_sheet.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/left_knee_to_ankle_right_sheet.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_roll_to_pitch.part b/playground/open_duck_mini_v2/urdfs/assets/left_roll_to_pitch.part
new file mode 100644
index 0000000..d084ffc
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/left_roll_to_pitch.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+    "fullConfiguration": "default",
+    "id": "Mg7gXWiWLFdTkX/WZ",
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+    "name": "left_roll_to_pitch <1>",
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+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/left_roll_to_pitch.stl b/playground/open_duck_mini_v2/urdfs/assets/left_roll_to_pitch.stl
new file mode 100644
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/left_roll_to_pitch.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/leg_spacer.part b/playground/open_duck_mini_v2/urdfs/assets/leg_spacer.part
new file mode 100644
index 0000000..5712510
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/leg_spacer.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+    "name": "leg_spacer <1>",
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+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/leg_spacer.stl b/playground/open_duck_mini_v2/urdfs/assets/leg_spacer.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/leg_spacer.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/neck_left_sheet.part b/playground/open_duck_mini_v2/urdfs/assets/neck_left_sheet.part
new file mode 100644
index 0000000..9004962
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/neck_left_sheet.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
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+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/neck_left_sheet.stl b/playground/open_duck_mini_v2/urdfs/assets/neck_left_sheet.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/neck_left_sheet.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/neck_right_sheet.part b/playground/open_duck_mini_v2/urdfs/assets/neck_right_sheet.part
new file mode 100644
index 0000000..e7ed9ed
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/neck_right_sheet.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "M8fJckSPn4u+ct8pO",
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+    "name": "neck_right_sheet <1>",
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+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/neck_right_sheet.stl b/playground/open_duck_mini_v2/urdfs/assets/neck_right_sheet.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/neck_right_sheet.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/passive_palonier.part b/playground/open_duck_mini_v2/urdfs/assets/passive_palonier.part
new file mode 100644
index 0000000..9b01991
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/passive_palonier.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "d386542214948bc90a7bc881",
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+    "name": "passive_palonier <1>",
+    "partId": "JVD",
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+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/passive_palonier.stl b/playground/open_duck_mini_v2/urdfs/assets/passive_palonier.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/passive_palonier.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/power_switch.part b/playground/open_duck_mini_v2/urdfs/assets/power_switch.part
new file mode 100644
index 0000000..65df91a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/power_switch.part
@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "a18ff8cc622a533762a3a6f5",
+    "documentMicroversion": "f5e1d9417006aed4e8eece17",
+    "documentVersion": "94881018f8994675184c1f42",
+    "elementId": "8bfad62b97860b67f75e3376",
+    "fullConfiguration": "default",
+    "id": "MoxN2/6DvG8o5Khzi",
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+    "name": "power_switch <1>",
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+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/power_switch.stl b/playground/open_duck_mini_v2/urdfs/assets/power_switch.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/power_switch.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/raspberrypizerow.part b/playground/open_duck_mini_v2/urdfs/assets/raspberrypizerow.part
new file mode 100644
index 0000000..769abe7
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/raspberrypizerow.part
@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "a18ff8cc622a533762a3a6f5",
+    "documentMicroversion": "f5e1d9417006aed4e8eece17",
+    "documentVersion": "94881018f8994675184c1f42",
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+    "fullConfiguration": "default",
+    "id": "MT4+RWBYZDvB/ifWw",
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+    "name": "RaspberryPiZeroW <1>",
+    "partId": "JFH",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/raspberrypizerow.stl b/playground/open_duck_mini_v2/urdfs/assets/raspberrypizerow.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/raspberrypizerow.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/right_antenna_holder.part b/playground/open_duck_mini_v2/urdfs/assets/right_antenna_holder.part
new file mode 100644
index 0000000..6867a20
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/right_antenna_holder.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
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+    "name": "right_antenna_holder <1>",
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+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/right_antenna_holder.stl b/playground/open_duck_mini_v2/urdfs/assets/right_antenna_holder.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/right_antenna_holder.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/right_cache.part b/playground/open_duck_mini_v2/urdfs/assets/right_cache.part
new file mode 100644
index 0000000..e6893ff
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/right_cache.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/right_cache.stl b/playground/open_duck_mini_v2/urdfs/assets/right_cache.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/right_cache.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/right_roll_to_pitch.part b/playground/open_duck_mini_v2/urdfs/assets/right_roll_to_pitch.part
new file mode 100644
index 0000000..aa4c05c
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/right_roll_to_pitch.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/right_roll_to_pitch.stl b/playground/open_duck_mini_v2/urdfs/assets/right_roll_to_pitch.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/right_roll_to_pitch.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/roll_bearing.part b/playground/open_duck_mini_v2/urdfs/assets/roll_bearing.part
new file mode 100644
index 0000000..770e3ec
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/roll_bearing.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/roll_bearing.stl b/playground/open_duck_mini_v2/urdfs/assets/roll_bearing.stl
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Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/roll_bearing.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/roll_motor_bottom.part b/playground/open_duck_mini_v2/urdfs/assets/roll_motor_bottom.part
new file mode 100644
index 0000000..65b6be1
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/roll_motor_bottom.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
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+}
\ No newline at end of file
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index 0000000..a36dff5
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/roll_motor_bottom.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/roll_motor_top.part b/playground/open_duck_mini_v2/urdfs/assets/roll_motor_top.part
new file mode 100644
index 0000000..d42766e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/roll_motor_top.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MoZYOvTkbbGLGW0df",
+    "isStandardContent": false,
+    "name": "roll_motor_top <1>",
+    "partId": "RyHD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/roll_motor_top.stl b/playground/open_duck_mini_v2/urdfs/assets/roll_motor_top.stl
new file mode 100644
index 0000000..99f314c
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/roll_motor_top.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/sg90.part b/playground/open_duck_mini_v2/urdfs/assets/sg90.part
new file mode 100644
index 0000000..c02443b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/sg90.part
@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "a18ff8cc622a533762a3a6f5",
+    "documentMicroversion": "f5e1d9417006aed4e8eece17",
+    "documentVersion": "94881018f8994675184c1f42",
+    "elementId": "349d7eaab34e22a2c029ddc9",
+    "fullConfiguration": "default",
+    "id": "MkrkdH7oZvjAepXlL",
+    "isStandardContent": false,
+    "name": "sg90 <1>",
+    "partId": "JHD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/sg90.stl b/playground/open_duck_mini_v2/urdfs/assets/sg90.stl
new file mode 100644
index 0000000..bac6639
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/sg90.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/trunk_bottom.part b/playground/open_duck_mini_v2/urdfs/assets/trunk_bottom.part
new file mode 100644
index 0000000..55deea0
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/trunk_bottom.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MMYHrJ4hqH24cpa8I",
+    "isStandardContent": false,
+    "name": "trunk_bottom <1>",
+    "partId": "RvJH",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/trunk_bottom.stl b/playground/open_duck_mini_v2/urdfs/assets/trunk_bottom.stl
new file mode 100644
index 0000000..48afbc7
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/trunk_bottom.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/trunk_top.part b/playground/open_duck_mini_v2/urdfs/assets/trunk_top.part
new file mode 100644
index 0000000..825a9f6
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/trunk_top.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "560456e30aa4a28c1f2fba59",
+    "fullConfiguration": "default",
+    "id": "MNg8avQSkDpa0UkRX",
+    "isStandardContent": false,
+    "name": "trunk_top <1>",
+    "partId": "RvJD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/trunk_top.stl b/playground/open_duck_mini_v2/urdfs/assets/trunk_top.stl
new file mode 100644
index 0000000..760665c
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/trunk_top.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/usb_c_charger.part b/playground/open_duck_mini_v2/urdfs/assets/usb_c_charger.part
new file mode 100644
index 0000000..8cb8bd9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/usb_c_charger.part
@@ -0,0 +1,14 @@
+{
+    "configuration": "default",
+    "documentId": "a18ff8cc622a533762a3a6f5",
+    "documentMicroversion": "f5e1d9417006aed4e8eece17",
+    "documentVersion": "94881018f8994675184c1f42",
+    "elementId": "1a4a827101fb7d1d1b3cc8de",
+    "fullConfiguration": "default",
+    "id": "MXjBB69uv3FCgauqS",
+    "isStandardContent": false,
+    "name": "usb_c_charger <1>",
+    "partId": "JHD",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/usb_c_charger.stl b/playground/open_duck_mini_v2/urdfs/assets/usb_c_charger.stl
new file mode 100644
index 0000000..2760f99
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/usb_c_charger.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0122topcabinetcase_95.part b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0122topcabinetcase_95.part
new file mode 100644
index 0000000..ff6193a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0122topcabinetcase_95.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "d386542214948bc90a7bc881",
+    "fullConfiguration": "default",
+    "id": "MOFyAb/RZuW0kTpzn",
+    "isStandardContent": false,
+    "name": "WJ-WK00-0122TOPCABINETCASE_95 <1>",
+    "partId": "JFb",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0122topcabinetcase_95.stl b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0122topcabinetcase_95.stl
new file mode 100644
index 0000000..984d136
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0122topcabinetcase_95.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0123middlecase_56.part b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0123middlecase_56.part
new file mode 100644
index 0000000..1d26a22
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0123middlecase_56.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "d386542214948bc90a7bc881",
+    "fullConfiguration": "default",
+    "id": "M1HwhnHIG/iEEwnW3",
+    "isStandardContent": false,
+    "name": "WJ-WK00-0123MIDDLECASE_56 <1>",
+    "partId": "JFP",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0123middlecase_56.stl b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0123middlecase_56.stl
new file mode 100644
index 0000000..098c62c
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0123middlecase_56.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0124bottomcase_45.part b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0124bottomcase_45.part
new file mode 100644
index 0000000..8274cea
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0124bottomcase_45.part
@@ -0,0 +1,13 @@
+{
+    "configuration": "default",
+    "documentId": "64074dfcfa379b37d8a47762",
+    "documentMicroversion": "f0f96f55301e47eaff54f4b3",
+    "elementId": "d386542214948bc90a7bc881",
+    "fullConfiguration": "default",
+    "id": "MOFR6bFTIen7rmARW",
+    "isStandardContent": false,
+    "name": "WJ-WK00-0124BOTTOMCASE_45 <1>",
+    "partId": "JFT",
+    "suppressed": false,
+    "type": "Part"
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0124bottomcase_45.stl b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0124bottomcase_45.stl
new file mode 100644
index 0000000..b5c7064
Binary files /dev/null and b/playground/open_duck_mini_v2/urdfs/assets/wj-wk00-0124bottomcase_45.stl differ
diff --git a/playground/open_duck_mini_v2/urdfs/auto_gait.json b/playground/open_duck_mini_v2/urdfs/auto_gait.json
new file mode 100644
index 0000000..36c1c45
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/auto_gait.json
@@ -0,0 +1,16 @@
+{
+  "slow": 0.05,
+  "medium": 0.1,
+  "fast": 0.15,
+  "dx_max": [0, 0.05],
+  "dy_max": [0, 0.05],
+  "dtheta_max": [0, 0.25],
+  "min_sweep_x": -0.04,
+  "max_sweep_x": 0.06,
+  "min_sweep_y": -0.03,
+  "max_sweep_y": 0.03,
+  "min_sweep_theta": -0.3,
+  "max_sweep_theta": 0.3,
+  "sweep_xy_granularity": 0.02,
+  "sweep_theta_granularity": 0.07
+}
diff --git a/playground/open_duck_mini_v2/urdfs/open_duck_mini_v2.urdf b/playground/open_duck_mini_v2/urdfs/open_duck_mini_v2.urdf
new file mode 100644
index 0000000..72545c7
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/open_duck_mini_v2.urdf
@@ -0,0 +1,522 @@
+<robot name="open_duck_mini_v2">
+    <link name="trunk_assembly">
+        <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="-0.048325895233303092779 -9.9782299489572899446e-05 0.038497067106456776819" rpy="0 0 0"/>
+            <mass value="0.69852641931996084512"/>
+            <inertia ixx="0.0016770053685612809624" ixy="-1.3166218023193746172e-05" ixz="-3.2495310924311253907e-05"
+                iyy="0.0034447879527285730529" iyz="-2.15581424807903811e-06" izz="0.0029263533437058342201"/>
+        </inertial>
+    </link>
+    <link name="imu">
+    <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="red">
+            <color rgba="1.0 0.0 0.0 1.0"/>
+        </material>
+        </visual>
+    </link>
+    <joint name="imu_attachment" type="fixed">
+        <origin xyz="-0.08 -0.0 0.05"/>
+        <parent link="trunk_assembly"/>
+        <child link="imu"/>
+        <axis xyz="0 0 0"/>
+    </joint>
+    <link name="trunk">
+    <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1e-9"/>
+            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+        </inertial>
+    </link>
+    <joint name="trunk_frame" type="fixed">
+        <origin xyz="-0.024000000000000760308 -2.4112656316077618612e-16 0.088190938812376745704"
+            rpy="-1.4062102177136726269e-16 -9.4252837597218562265e-17 7.8061435390716270015e-33"/>
+        <parent link="trunk_assembly"/>
+        <child link="trunk"/>
+        <axis xyz="0 0 0"/>
+    </joint>
+    <link name="hip_roll_assembly">
+        <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.00079508052674500252592 -5.4654095758018436489e-06 -0.033060020136905926558" rpy="0 0 0"/>
+            <mass value="0.066480000000000011307"/>
+            <inertia ixx="2.444109845492547855e-05" ixy="2.3565814728086258817e-09" ixz="-3.8105868119089706468e-07"
+                iyy="2.8181841945864101625e-05" iyz="-7.500356521814841032e-09" izz="1.4268673550007182255e-05"/>
+        </inertial>
+    </link>
+    <link name="left_roll_to_pitch_assembly">
+    <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.050804245437506750926 -0.0004110495852498661758 0.020470437421083804291" rpy="0 0 0"/>
+            <mass value="0.075160000000000004583"/>
+            <inertia ixx="2.523352224027183415e-05" ixy="1.2213346145563009055e-07" ixz="-5.9049889515451809488e-07"
+                iyy="4.1385485577274777581e-05" iyz="-1.0754428972190676818e-07" izz="2.8126993683182112372e-05"/>
+        </inertial>
+    </link>
+    <link name="knee_and_ankle_assembly">
+    <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.0025336932086838202804 -0.039063625582319787266 0.01027755322184311336" rpy="0 0 0"/>
+            <mass value="0.12407000000000001361"/>
+            <inertia ixx="0.00021140643070753159928" ixy="-2.6870571086839353114e-05" ixz="3.819062660576335684e-06"
+                iyy="7.837594657857567548e-05" iyz="2.0800939013343858251e-05" izz="0.00022561934195592249063"/>
+        </inertial>
+    </link>
+    <link name="knee_and_ankle_assembly_2">
+        <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="5.0185935256881937527e-06 -0.057746501775911597554 0.018113576234400501769" rpy="0 0 0"/>
+            <mass value="0.072590000000000015623"/>
+            <inertia ixx="4.9957470488425599685e-05" ixy="1.0381659904820910224e-08" ixz="2.2517542781705774177e-09"
+                iyy="1.8727312047199995079e-05" iyz="8.8104946302390758656e-08" izz="4.2393204018240661618e-05"/>
+        </inertial>
+    </link>
+    <link name="foot_assembly">
+        <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.011071805405810805634 -0.024660828914054352262 0.019062631505101717416" rpy="0 0 0"/>
+            <mass value="0.075240000000000015201"/>
+            <inertia ixx="1.874823489561183601e-05" ixy="1.5883913417291453815e-06" ixz="-6.5235393392551262897e-09"
+                iyy="6.744271101763149969e-05" iyz="5.6739084804844489083e-08" izz="6.0609999941114219447e-05"/>
+        </inertial>
+    </link>
+    <link name="left_foot">
+        <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1e-9"/>
+            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+        </inertial>
+    </link>
+    <joint name="left_foot_frame" type="fixed">
+        <origin xyz="0.00049999999999995187183 -0.036224999999999729638 0.019550000000000331002"
+            rpy="-1.570796326794896558 4.8789097652664912905e-18 2.353432088828639061e-23"/>
+        <parent link="foot_assembly"/>
+        <child link="left_foot"/>
+        <axis xyz="0 0 0"/>
+    </joint>
+    <joint name="left_ankle" type="revolute">
+        <origin xyz="-7.9103390504542403505e-16 -0.078649999999999428701 9.9999999999794697558e-05"
+            rpy="1.636340693842024721e-16 1.1379785959205303308e-15 -2.7755597583208935156e-17"/>
+        <parent link="knee_and_ankle_assembly_2"/>
+        <child link="foot_assembly"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-1.570796326794896558" upper="1.570796326794896558"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="left_knee" type="revolute">
+        <origin xyz="-2.9837243786801082024e-16 -0.078650000000000871991 9.99999999999751088e-05"
+            rpy="-2.6413758326899544516e-16 -7.0075679691128679348e-24 -2.4877517507049828295e-26"/>
+        <parent link="knee_and_ankle_assembly"/>
+        <child link="knee_and_ankle_assembly_2"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-1.570796326794896558" upper="1.570796326794896558"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="left_hip_pitch" type="revolute">
+        <origin xyz="0.074149999999999799405 -1.9529191631895148618e-17 0.035109999999999898235"
+            rpy="3.141592653589793116 1.570796326794896336 0"/>
+        <parent link="left_roll_to_pitch_assembly"/>
+        <child link="knee_and_ankle_assembly"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-1.2217304763960306069" upper="0.52359877559829881566"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="left_hip_roll" type="revolute">
+        <origin xyz="0.019050000000003588368 4.3576253716537394212e-15 -0.046015000000001519964"
+            rpy="-1.5707963267949396347 9.7936145200150713608e-14 1.5707963267946445374"/>
+        <parent link="hip_roll_assembly"/>
+        <child link="left_roll_to_pitch_assembly"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-0.43633231299858238339" upper="0.43633231299858238339"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="left_hip_yaw" type="revolute">
+        <origin xyz="-0.018999999999998434808 0.035000000000000974776 0.04594093881237738819"
+            rpy="-1.5205902553582758499e-16 -2.2037927038784495587e-14 -6.3658912806794774433e-27"/>
+        <parent link="trunk_assembly"/>
+        <child link="hip_roll_assembly"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-0.52359877559829881566" upper="0.52359877559829881566"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <link name="hip_roll_assembly_2">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.00079508052675098059986 -5.4654095474601585033e-06 -0.033060020136905649002" rpy="0 0 0"/>
+            <mass value="0.066480000000000011307"/>
+            <inertia ixx="2.4441098454925180394e-05" ixy="2.3565814726417264766e-09" ixz="-3.8105868119080399694e-07"
+                iyy="2.8181841945863464656e-05" iyz="-7.5003565176413343386e-09" izz="1.426867355000682989e-05"/>
+        </inertial>
+    </link>
+    <link name="right_roll_to_pitch_assembly">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="-0.050804245559722807646 -0.00042074186984666347771 0.020470437477687338651" rpy="0 0 0"/>
+            <mass value="0.075160000000000004583"/>
+            <inertia ixx="2.523291747004815754e-05" ixy="-1.3052786017330530768e-07" ixz="5.9049873224166014734e-07"
+                iyy="4.1385487041400215765e-05" iyz="-9.134267596940087062e-08" izz="2.8126389586193940786e-05"/>
+        </inertial>
+    </link>
+    <link name="knee_and_ankle_assembly_3">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.0025336932086842604665 0.039063625582319100316 0.010808979048309713678" rpy="0 0 0"/>
+            <mass value="0.12407000000000004136"/>
+            <inertia ixx="0.0002123629231784335031" ixy="2.687057108684057623e-05" ixz="3.9655981569111917442e-06"
+                iyy="7.9332439049479029419e-05" iyz="-2.1740666699998192402e-05" izz="0.00022561934195591986144"/>
+        </inertial>
+    </link>
+    <link name="knee_and_ankle_assembly_4">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="5.018593525814894635e-06 -0.057746501775911486531 0.01811357623440068218" rpy="0 0 0"/>
+            <mass value="0.072590000000000015623"/>
+            <inertia ixx="4.9957470488425796196e-05" ixy="1.0381659904749645305e-08" ixz="2.251754278111965881e-09"
+                iyy="1.8727312047200337281e-05" iyz="8.8104946302554447773e-08" izz="4.2393204018240532869e-05"/>
+        </inertial>
+    </link>
+    <link name="foot_assembly_2">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.011071805405810937473 -0.024660828914054452876 0.019062631505101838847" rpy="0 0 0"/>
+            <mass value="0.075240000000000015201"/>
+            <inertia ixx="1.8748234895611910549e-05" ixy="1.5883913417292040386e-06" ixz="-6.5235393392665612345e-09"
+                iyy="6.7442711017631526795e-05" iyz="5.6739084804903357873e-08" izz="6.0609999941114300762e-05"/>
+        </inertial>
+    </link>
+    <link name="right_foot">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1e-9"/>
+            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+        </inertial>
+    </link>
+    <joint name="right_foot_frame" type="fixed">
+        <origin xyz="0.00050000000000022942759 -0.036224999999999812905 0.019550000000000553046"
+            rpy="-1.570796326794896558 -2.2055201956572090666e-25 -2.8950564132886956449e-25"/>
+        <parent link="foot_assembly_2"/>
+        <child link="right_foot"/>
+        <axis xyz="0 0 0"/>
+    </joint>
+    <joint name="right_ankle" type="revolute">
+        <origin xyz="1.3877787807814456755e-17 -0.078649999999999928302 0.00010000000000004449774"
+            rpy="-2.6413812280837946538e-16 -1.7764738567684265366e-22 4.6805027693161558698e-25"/>
+        <parent link="knee_and_ankle_assembly_4"/>
+        <child link="foot_assembly_2"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-1.570796326794896558" upper="1.570796326794896558"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="right_knee" type="revolute">
+        <origin xyz="1.3877787807814456755e-17 0.078649999999999137268 0.036999999999999574896"
+            rpy="3.141592653589793116 -5.3297228769912622595e-22 -2.2267995332275346432e-26"/>
+        <parent link="knee_and_ankle_assembly_3"/>
+        <child link="knee_and_ankle_assembly_4"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-1.570796326794896558" upper="1.570796326794896558"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="right_hip_pitch" type="revolute">
+        <origin xyz="-0.074149999999999771649 5.1732706660145844069e-16 0.035110000000000037013"
+            rpy="-6.1899281068357555747e-22 1.570796326794896336 0"/>
+        <parent link="right_roll_to_pitch_assembly"/>
+        <child link="knee_and_ankle_assembly_3"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-0.52359877559829881566" upper="1.2217304763960306069"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="right_hip_roll" type="revolute">
+        <origin xyz="0.019050000000008570494 4.0564773762241657096e-14 -0.046015000000004170622"
+            rpy="-1.5707963267947786523 -8.9077711856609251111e-14 1.5707963267946440933"/>
+        <parent link="hip_roll_assembly_2"/>
+        <child link="right_roll_to_pitch_assembly"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-0.43633231299858238339" upper="0.43633231299858238339"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="right_hip_yaw" type="revolute">
+        <origin xyz="-0.018999999999998431338 -0.03500000000000151601 0.045940938812377415945"
+            rpy="-5.7327222785292536251e-16 -2.1926904736366604217e-14 -2.7755575616618406396e-16"/>
+        <parent link="trunk_assembly"/>
+        <child link="hip_roll_assembly_2"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-0.52359877559829881566" upper="0.52359877559829881566"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <link name="neck_pitch_assembly">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="-5.6313726505350619096e-06 0.049296760188244546919 0.018178555579869751929" rpy="0 0 0"/>
+            <mass value="0.066180000000000016591"/>
+            <inertia ixx="3.494563815217761768e-05" ixy="8.7563261020025733394e-09" ixz="-2.1559156609461426653e-09"
+                iyy="1.7023145118232476758e-05" iyz="-1.8518807640006497821e-08" izz="2.8004252155145411722e-05"/>
+        </inertial>
+    </link>
+    <link name="head_pitch_to_yaw">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="-0.0076624665903661749386 0.026014958700652707213 0.018668069848403360395" rpy="0 0 0"/>
+            <mass value="0.016937787992336000853"/>
+            <inertia ixx="9.4303589355219918504e-06" ixy="1.3519527882998983493e-06" ixz="3.0589894259326036064e-08"
+                iyy="4.6476284415361806667e-06" iyz="-8.4280232933014221602e-08" izz="8.0291501280952315596e-06"/>
+        </inertial>
+    </link>
+    <link name="neck_yaw_assembly">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.0041290688015580027589 3.9574458978396336408e-06 -0.02228283984063029674" rpy="0 0 0"/>
+            <mass value="0.091809888579250376051"/>
+            <inertia ixx="3.117063633968958136e-05" ixy="4.2942915561538148644e-09" ixz="-4.4125133978803822204e-06"
+                iyy="6.9493543438959394292e-05" iyz="-3.8202750251564124417e-09" izz="7.0402479889611211316e-05"/>
+        </inertial>
+    </link>
+    <link name="head_assembly">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0.0076177852948042497697 0.00018097970253179974606 0.024257508476548592796" rpy="0 0 0"/>
+            <mass value="0.35258298534369525434"/>
+            <inertia ixx="0.0020638573779904641203" ixy="-1.384822104706252886e-06" ixz="9.1037277340196031718e-05"
+                iyy="0.0014412682765872035506" iyz="-2.9145451671849062868e-06" izz="0.00091677314815290841116"/>
+        </inertial>
+    </link>
+    <link name="head">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1e-9"/>
+            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+        </inertial>
+    </link>
+    <joint name="head_frame" type="fixed">
+        <origin xyz="0.04244999999999957141 2.135878279796443735e-17 0.035950000000000377487"
+            rpy="-0 1.570796326794896558 0"/>
+        <parent link="head_assembly"/>
+        <child link="head"/>
+        <axis xyz="0 0 0"/>
+    </joint>
+    <link name="left_antenna_holder">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="-0.0049398548214985120441 0.0081303220914736799158 -0.0023337426173884851487" rpy="0 0 0"/>
+            <mass value="0.00421628909577088061"/>
+            <inertia ixx="3.5881972229367448444e-06" ixy="-1.693372333235333673e-07" ixz="1.548170588123017984e-09"
+                iyy="2.5430131672962936659e-07" iyz="3.9979038225548418641e-08" izz="3.8079123149071354266e-06"/>
+        </inertial>
+    </link>
+    <joint name="left_antenna" type="fixed">
+        <origin xyz="0.00070406945503187490232 0.060662837687359048855 0.1164348532954449511"
+            rpy="-3.1415926535897802374 1.3045791727887245948 1.3234423712230847237"/>
+        <parent link="head_assembly"/>
+        <child link="left_antenna_holder"/>
+        <axis xyz="0 0 1"/>
+        <!-- <limit effort="100" velocity="100" lower="-1.570796326794896558" upper="1.570796326794896558"/>
+        <joint_properties friction="0.0"/> -->
+    </joint>
+    <link name="right_antenna_holder">
+            <visual>
+        <geometry>
+            <sphere radius="0.01"/>
+        </geometry>
+        <material name="blue">
+            <color rgba="0.0 0.0 1.0 1.0"/>
+        </material>
+        </visual>
+        <inertial>
+            <origin xyz="-0.0049398571608862441862 -0.0082621254299192394693 -0.0023337411215750059924" rpy="0 0 0"/>
+            <mass value="0.0042162869849506796893"/>
+            <inertia ixx="3.6498064950645643793e-06" ixy="1.720822854603261103e-07" ixz="1.5481440054410580238e-09"
+                iyy="2.5430123930068678528e-07" iyz="-4.0627217574810365425e-08" izz="3.8695215401713807762e-06"/>
+        </inertial>
+    </link>
+    <joint name="right_antenna" type="fixed">
+        <origin xyz="0.00070406945503675988363 -0.060662837687358986405 0.11643485329544003837"
+            rpy="-3.1415926535897802374 1.3045791727887252609 -1.3234423712230598547"/>
+        <parent link="head_assembly"/>
+        <child link="right_antenna_holder"/>
+        <axis xyz="0 0 1"/>
+        <!-- <limit effort="100" velocity="100" lower="-1.570796326794896558" upper="1.570796326794896558"/>
+        <joint_properties friction="0.0"/> -->
+    </joint>
+    <joint name="head_roll" type="revolute">
+        <origin xyz="0.040950000000000000289 -4.2214766838438722019e-16 -0.019149999999999833822"
+            rpy="1.2411687278497551329e-14 -1.5707963267948830133 0"/>
+        <parent link="neck_yaw_assembly"/>
+        <child link="head_assembly"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-0.52359877559829881566" upper="0.52359877559829881566"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="head_yaw" type="revolute">
+        <origin xyz="-9.9746599868666407929e-18 0.056999999999999967359 0.019050000000000014838"
+            rpy="-1.570796326794896558 -1.3706437208012195828e-25 6.1232339958582419871e-17"/>
+        <parent link="head_pitch_to_yaw"/>
+        <child link="neck_yaw_assembly"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-2.7925268031909271649" upper="2.7925268031909271649"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="head_pitch" type="revolute">
+        <origin xyz="-5.42101086242752217e-17 0.066000000000000086375 -1.0408340855860842566e-17"
+            rpy="-1.9479487599482720301e-16 -1.1423136863502905442e-16 1.7347234747146296461e-18"/>
+        <parent link="neck_pitch_assembly"/>
+        <child link="head_pitch_to_yaw"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-0.785398163397448279" upper="0.785398163397448279"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+    <joint name="neck_pitch" type="revolute">
+        <origin xyz="0.00099999999999899474856 0.019150000000000326483 0.090000938812376224396"
+            rpy="1.57079632679489678 -2.2204460492503130808e-14 6.1232449680326617825e-17"/>
+        <parent link="trunk_assembly"/>
+        <child link="neck_pitch_assembly"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="100" velocity="100" lower="-0.34906585039886589561" upper="1.1344640137963142301"/>
+        <joint_properties friction="0.0"/>
+    </joint>
+</robot>
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_defaults.json b/playground/open_duck_mini_v2/urdfs/placo_defaults.json
new file mode 100644
index 0000000..3378cab
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_defaults.json
@@ -0,0 +1,52 @@
+{
+  "dx": 0.1,
+  "dy": 0.0,
+  "dtheta": 0.0,
+  "duration": 8,
+  "hardware": true,
+  "double_support_ratio": 0.18,
+  "startend_double_support_ratio": 1.5,
+  "planned_timesteps": 48,
+  "replan_timesteps": 10,
+  "walk_com_height": 0.2,
+  "walk_foot_height": 0.04,
+  "walk_trunk_pitch": -3,
+  "walk_foot_rise_ratio": 0.2,
+  "single_support_duration": 0.17,
+  "single_support_timesteps": 10,
+  "foot_length": 0.06,
+  "feet_spacing": 0.16,
+  "zmp_margin": 0.0,
+  "foot_zmp_target_x": 0.0,
+  "foot_zmp_target_y": 0.0,
+  "walk_max_dtheta": 1.0,
+  "walk_max_dy": 0.1,
+  "walk_max_dx_forward": 0.08,
+  "walk_max_dx_backward": 0.03,
+  "joints": [
+    "left_hip_yaw",
+    "left_hip_roll",
+    "left_hip_pitch",
+    "left_knee",
+    "left_ankle",
+    "neck_pitch",
+    "head_pitch",
+    "head_yaw",
+    "head_roll",
+    "left_antenna",
+    "right_antenna",
+    "right_hip_yaw",
+    "right_hip_roll",
+    "right_hip_pitch",
+    "right_knee",
+    "right_ankle"
+  ],
+  "joint_angles": {
+    "head_pitch": 0,
+    "head_yaw": 0,
+    "neck_pitch": 0,
+    "head_roll": 0,
+    "left_antenna": 0,
+    "right_antenna": 0
+  }
+}
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/fast.json b/playground/open_duck_mini_v2/urdfs/placo_presets/fast.json
new file mode 100644
index 0000000..6a985b6
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/fast.json
@@ -0,0 +1,52 @@
+{
+  "dx": 0.0,
+  "dy": 0.0,
+  "dtheta": 0.0,
+  "duration": 8,
+  "hardware": true,
+  "double_support_ratio": 0.5,
+  "startend_double_support_ratio": 1.0,
+  "planned_timesteps": 48,
+  "replan_timesteps": 10,
+  "walk_com_height": 0.21,
+  "walk_foot_height": 0.04,
+  "walk_trunk_pitch": 5,
+  "walk_foot_rise_ratio": 0.02,
+  "single_support_duration": 0.18,
+  "single_support_timesteps": 10,
+  "foot_length": 0.06,
+  "feet_spacing": 0.16,
+  "zmp_margin": 0.0,
+  "foot_zmp_target_x": 0.0,
+  "foot_zmp_target_y": -0.03,
+  "walk_max_dtheta": 1.0,
+  "walk_max_dy": 0.1,
+  "walk_max_dx_forward": 0.08,
+  "walk_max_dx_backward": 0.03,
+  "joints": [
+    "left_hip_yaw",
+    "left_hip_roll",
+    "left_hip_pitch",
+    "left_knee",
+    "left_ankle",
+    "neck_pitch",
+    "head_pitch",
+    "head_yaw",
+    "head_roll",
+    "left_antenna",
+    "right_antenna",
+    "right_hip_yaw",
+    "right_hip_roll",
+    "right_hip_pitch",
+    "right_knee",
+    "right_ankle"
+  ],
+  "joint_angles": {
+    "neck_pitch": 0,
+    "head_pitch": 0,
+    "head_yaw": 0,
+    "head_roll": 0,
+    "left_antenna": 0,
+    "right_antenna": 0
+  }
+}
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/medium.json
new file mode 100644
index 0000000..c734273
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/medium.json
@@ -0,0 +1,52 @@
+{
+  "dx": 0.0,
+  "dy": 0.0,
+  "dtheta": 0.0,
+  "duration": 8,
+  "hardware": true,
+  "double_support_ratio": 0.5,
+  "startend_double_support_ratio": 1.0,
+  "planned_timesteps": 48,
+  "replan_timesteps": 10,
+  "walk_com_height": 0.205,
+  "walk_foot_height": 0.04,
+  "walk_trunk_pitch": -4,
+  "walk_foot_rise_ratio": 0.02,
+  "single_support_duration": 0.18,
+  "single_support_timesteps": 10,
+  "foot_length": 0.06,
+  "feet_spacing": 0.16,
+  "zmp_margin": 0.0,
+  "foot_zmp_target_x": 0.0,
+  "foot_zmp_target_y": -0.03,
+  "walk_max_dtheta": 1.0,
+  "walk_max_dy": 0.1,
+  "walk_max_dx_forward": 0.08,
+  "walk_max_dx_backward": 0.03,
+  "joints": [
+    "left_hip_yaw",
+    "left_hip_roll",
+    "left_hip_pitch",
+    "left_knee",
+    "left_ankle",
+    "neck_pitch",
+    "head_pitch",
+    "head_yaw",
+    "head_roll",
+    "left_antenna",
+    "right_antenna",
+    "right_hip_yaw",
+    "right_hip_roll",
+    "right_hip_pitch",
+    "right_knee",
+    "right_ankle"
+  ],
+  "joint_angles": {
+    "neck_pitch": 20,
+    "head_pitch": -26,
+    "head_yaw": 0,
+    "head_roll": 0,
+    "left_antenna": 0,
+    "right_antenna": 0
+  }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/0_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/0_medium.json
new file mode 100644
index 0000000..61f8493
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/0_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/100_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/100_medium.json
new file mode 100644
index 0000000..a95040e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/100_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/101_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/101_medium.json
new file mode 100644
index 0000000..e8f9a70
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/101_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/102_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/102_medium.json
new file mode 100644
index 0000000..a1526f8
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/102_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/103_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/103_medium.json
new file mode 100644
index 0000000..0401e0d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/103_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/104_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/104_medium.json
new file mode 100644
index 0000000..070ae48
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/104_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/105_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/105_medium.json
new file mode 100644
index 0000000..cd2d30d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/105_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/106_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/106_medium.json
new file mode 100644
index 0000000..24e757b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/106_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/107_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/107_medium.json
new file mode 100644
index 0000000..bddf017
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/107_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/108_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/108_medium.json
new file mode 100644
index 0000000..236970e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/108_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/109_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/109_medium.json
new file mode 100644
index 0000000..0032d5e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/109_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/10_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/10_medium.json
new file mode 100644
index 0000000..1e0eeef
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/10_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/110_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/110_medium.json
new file mode 100644
index 0000000..8a66ef9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/110_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/111_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/111_medium.json
new file mode 100644
index 0000000..85d7188
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/111_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/112_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/112_medium.json
new file mode 100644
index 0000000..9e718ca
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/112_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/113_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/113_medium.json
new file mode 100644
index 0000000..3ab6973
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/113_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/114_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/114_medium.json
new file mode 100644
index 0000000..f501927
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/114_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/115_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/115_medium.json
new file mode 100644
index 0000000..d716387
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/115_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/116_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/116_medium.json
new file mode 100644
index 0000000..4faa853
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/116_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/117_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/117_medium.json
new file mode 100644
index 0000000..a6d1ffb
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/117_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/118_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/118_medium.json
new file mode 100644
index 0000000..920b154
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/118_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/119_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/119_medium.json
new file mode 100644
index 0000000..f70d018
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/119_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/11_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/11_medium.json
new file mode 100644
index 0000000..f8d9054
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/11_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/120_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/120_medium.json
new file mode 100644
index 0000000..d99418d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/120_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/121_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/121_medium.json
new file mode 100644
index 0000000..d2d0778
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/121_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/122_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/122_medium.json
new file mode 100644
index 0000000..c634910
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/122_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/123_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/123_medium.json
new file mode 100644
index 0000000..b7a40ce
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/123_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/124_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/124_medium.json
new file mode 100644
index 0000000..4336f51
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/124_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/125_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/125_medium.json
new file mode 100644
index 0000000..2c20d67
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/125_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/126_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/126_medium.json
new file mode 100644
index 0000000..158b844
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/126_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/127_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/127_medium.json
new file mode 100644
index 0000000..408f3c8
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/127_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/128_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/128_medium.json
new file mode 100644
index 0000000..7df721b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/128_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/129_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/129_medium.json
new file mode 100644
index 0000000..59ba8df
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/129_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/12_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/12_medium.json
new file mode 100644
index 0000000..221e21b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/12_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/130_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/130_medium.json
new file mode 100644
index 0000000..3148fc8
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/130_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/131_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/131_medium.json
new file mode 100644
index 0000000..4019f0c
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/131_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/132_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/132_medium.json
new file mode 100644
index 0000000..8957fc2
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/132_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/133_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/133_medium.json
new file mode 100644
index 0000000..a33628a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/133_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/134_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/134_medium.json
new file mode 100644
index 0000000..9036d7a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/134_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/135_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/135_medium.json
new file mode 100644
index 0000000..07f87f9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/135_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/136_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/136_medium.json
new file mode 100644
index 0000000..a27b201
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/136_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/137_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/137_medium.json
new file mode 100644
index 0000000..29e85d0
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/137_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/138_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/138_medium.json
new file mode 100644
index 0000000..3beb22a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/138_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/139_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/139_medium.json
new file mode 100644
index 0000000..73aea5a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/139_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/13_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/13_medium.json
new file mode 100644
index 0000000..21813ae
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/13_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/140_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/140_medium.json
new file mode 100644
index 0000000..5973624
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/140_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/141_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/141_medium.json
new file mode 100644
index 0000000..42fe887
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/141_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/142_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/142_medium.json
new file mode 100644
index 0000000..fd69817
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/142_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/143_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/143_medium.json
new file mode 100644
index 0000000..0ccf4bf
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/143_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": 0.05,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/144_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/144_medium.json
new file mode 100644
index 0000000..f9d313d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/144_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/145_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/145_medium.json
new file mode 100644
index 0000000..4c79853
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/145_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/146_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/146_medium.json
new file mode 100644
index 0000000..123f6fc
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/146_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/147_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/147_medium.json
new file mode 100644
index 0000000..9053923
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/147_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/148_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/148_medium.json
new file mode 100644
index 0000000..d9852eb
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/148_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/149_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/149_medium.json
new file mode 100644
index 0000000..cd7f44a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/149_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/14_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/14_medium.json
new file mode 100644
index 0000000..394376f
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/14_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/150_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/150_medium.json
new file mode 100644
index 0000000..4608f1e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/150_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/151_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/151_medium.json
new file mode 100644
index 0000000..8fdd937
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/151_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/152_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/152_medium.json
new file mode 100644
index 0000000..7c5a231
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/152_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/153_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/153_medium.json
new file mode 100644
index 0000000..00ec218
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/153_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/154_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/154_medium.json
new file mode 100644
index 0000000..9ff357a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/154_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/155_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/155_medium.json
new file mode 100644
index 0000000..829a4ec
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/155_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/156_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/156_medium.json
new file mode 100644
index 0000000..c990139
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/156_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/157_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/157_medium.json
new file mode 100644
index 0000000..458cd7e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/157_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/158_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/158_medium.json
new file mode 100644
index 0000000..a0f51b3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/158_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/159_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/159_medium.json
new file mode 100644
index 0000000..c783217
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/159_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/15_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/15_medium.json
new file mode 100644
index 0000000..8890726
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/15_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/160_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/160_medium.json
new file mode 100644
index 0000000..9810cb7
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/160_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/161_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/161_medium.json
new file mode 100644
index 0000000..41eda98
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/161_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/162_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/162_medium.json
new file mode 100644
index 0000000..65650f3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/162_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/163_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/163_medium.json
new file mode 100644
index 0000000..341573a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/163_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/164_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/164_medium.json
new file mode 100644
index 0000000..cd9eaa4
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/164_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/165_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/165_medium.json
new file mode 100644
index 0000000..307f8ad
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/165_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/166_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/166_medium.json
new file mode 100644
index 0000000..1b5c8f5
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/166_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/167_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/167_medium.json
new file mode 100644
index 0000000..2aaa184
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/167_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": 0.12,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/168_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/168_medium.json
new file mode 100644
index 0000000..ea92d93
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/168_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/169_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/169_medium.json
new file mode 100644
index 0000000..4a2171a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/169_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/16_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/16_medium.json
new file mode 100644
index 0000000..44aa300
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/16_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/170_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/170_medium.json
new file mode 100644
index 0000000..640079e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/170_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/171_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/171_medium.json
new file mode 100644
index 0000000..278475f
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/171_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/172_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/172_medium.json
new file mode 100644
index 0000000..13d6da8
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/172_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/173_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/173_medium.json
new file mode 100644
index 0000000..31a2c00
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/173_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/174_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/174_medium.json
new file mode 100644
index 0000000..ee1aa88
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/174_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/175_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/175_medium.json
new file mode 100644
index 0000000..6d8d043
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/175_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/176_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/176_medium.json
new file mode 100644
index 0000000..96a61b0
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/176_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/177_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/177_medium.json
new file mode 100644
index 0000000..daf097b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/177_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/178_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/178_medium.json
new file mode 100644
index 0000000..9fd0798
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/178_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/179_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/179_medium.json
new file mode 100644
index 0000000..260eac9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/179_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/17_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/17_medium.json
new file mode 100644
index 0000000..312d4bb
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/17_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/180_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/180_medium.json
new file mode 100644
index 0000000..be81485
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/180_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/181_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/181_medium.json
new file mode 100644
index 0000000..0fc8aef
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/181_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/182_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/182_medium.json
new file mode 100644
index 0000000..13650fc
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/182_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/183_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/183_medium.json
new file mode 100644
index 0000000..bb41829
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/183_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/184_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/184_medium.json
new file mode 100644
index 0000000..24e54c0
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/184_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/185_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/185_medium.json
new file mode 100644
index 0000000..1c88ffd
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/185_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/186_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/186_medium.json
new file mode 100644
index 0000000..4ef3d9c
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/186_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/187_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/187_medium.json
new file mode 100644
index 0000000..e8c53e6
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/187_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/188_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/188_medium.json
new file mode 100644
index 0000000..dd62569
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/188_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/189_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/189_medium.json
new file mode 100644
index 0000000..4c17784
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/189_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/18_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/18_medium.json
new file mode 100644
index 0000000..0c1eaf0
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/18_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/190_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/190_medium.json
new file mode 100644
index 0000000..61ddd04
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/190_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/191_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/191_medium.json
new file mode 100644
index 0000000..0257d35
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/191_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": 0.19,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/192_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/192_medium.json
new file mode 100644
index 0000000..869a32a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/192_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/193_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/193_medium.json
new file mode 100644
index 0000000..204292d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/193_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/194_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/194_medium.json
new file mode 100644
index 0000000..84dfeec
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/194_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/195_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/195_medium.json
new file mode 100644
index 0000000..fe29312
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/195_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/196_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/196_medium.json
new file mode 100644
index 0000000..e633f4f
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/196_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/197_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/197_medium.json
new file mode 100644
index 0000000..b5f5108
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/197_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/198_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/198_medium.json
new file mode 100644
index 0000000..fb89945
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/198_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/199_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/199_medium.json
new file mode 100644
index 0000000..094eacb
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/199_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/19_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/19_medium.json
new file mode 100644
index 0000000..d562523
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/19_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/1_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/1_medium.json
new file mode 100644
index 0000000..2cb43b4
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/1_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/200_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/200_medium.json
new file mode 100644
index 0000000..42c7286
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/200_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/201_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/201_medium.json
new file mode 100644
index 0000000..36c6511
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/201_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/202_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/202_medium.json
new file mode 100644
index 0000000..fe4694a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/202_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/203_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/203_medium.json
new file mode 100644
index 0000000..4acdc0c
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/203_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/204_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/204_medium.json
new file mode 100644
index 0000000..26bae2c
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/204_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/205_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/205_medium.json
new file mode 100644
index 0000000..9b59227
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/205_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/206_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/206_medium.json
new file mode 100644
index 0000000..ef53862
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/206_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/207_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/207_medium.json
new file mode 100644
index 0000000..7829709
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/207_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/208_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/208_medium.json
new file mode 100644
index 0000000..2a75466
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/208_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/209_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/209_medium.json
new file mode 100644
index 0000000..e953a21
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/209_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/20_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/20_medium.json
new file mode 100644
index 0000000..9502fbf
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/20_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/210_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/210_medium.json
new file mode 100644
index 0000000..077543c
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/210_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/211_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/211_medium.json
new file mode 100644
index 0000000..c546333
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/211_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/212_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/212_medium.json
new file mode 100644
index 0000000..db62060
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/212_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/213_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/213_medium.json
new file mode 100644
index 0000000..82b3e7d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/213_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/214_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/214_medium.json
new file mode 100644
index 0000000..a96e4f9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/214_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/215_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/215_medium.json
new file mode 100644
index 0000000..bc64a24
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/215_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": 0.26,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/216_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/216_medium.json
new file mode 100644
index 0000000..ed4cfee
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/216_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/217_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/217_medium.json
new file mode 100644
index 0000000..f7fc839
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/217_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/218_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/218_medium.json
new file mode 100644
index 0000000..a702d7c
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/218_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/219_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/219_medium.json
new file mode 100644
index 0000000..06179d3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/219_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/21_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/21_medium.json
new file mode 100644
index 0000000..400bfad
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/21_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/220_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/220_medium.json
new file mode 100644
index 0000000..1ea2a52
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/220_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/221_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/221_medium.json
new file mode 100644
index 0000000..86a61a3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/221_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/222_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/222_medium.json
new file mode 100644
index 0000000..8e476c9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/222_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/223_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/223_medium.json
new file mode 100644
index 0000000..904d623
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/223_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/224_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/224_medium.json
new file mode 100644
index 0000000..86c7ef6
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/224_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/225_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/225_medium.json
new file mode 100644
index 0000000..97da5da
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/225_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/226_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/226_medium.json
new file mode 100644
index 0000000..5bd82c1
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/226_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/227_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/227_medium.json
new file mode 100644
index 0000000..e9a13fa
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/227_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/228_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/228_medium.json
new file mode 100644
index 0000000..d94242a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/228_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/229_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/229_medium.json
new file mode 100644
index 0000000..2e14798
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/229_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/22_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/22_medium.json
new file mode 100644
index 0000000..f19a07d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/22_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/230_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/230_medium.json
new file mode 100644
index 0000000..b54f2f3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/230_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/231_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/231_medium.json
new file mode 100644
index 0000000..18b4315
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/231_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/232_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/232_medium.json
new file mode 100644
index 0000000..f6cd526
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/232_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/233_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/233_medium.json
new file mode 100644
index 0000000..cac20f3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/233_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/234_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/234_medium.json
new file mode 100644
index 0000000..59a9a78
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/234_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/235_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/235_medium.json
new file mode 100644
index 0000000..9a9d355
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/235_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/236_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/236_medium.json
new file mode 100644
index 0000000..51b99f5
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/236_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/237_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/237_medium.json
new file mode 100644
index 0000000..0dd6633
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/237_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/238_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/238_medium.json
new file mode 100644
index 0000000..7df191d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/238_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/239_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/239_medium.json
new file mode 100644
index 0000000..2e5e752
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/239_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": 0.33,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/23_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/23_medium.json
new file mode 100644
index 0000000..39c2ce9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/23_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/24_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/24_medium.json
new file mode 100644
index 0000000..e73b441
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/24_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/25_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/25_medium.json
new file mode 100644
index 0000000..c199b36
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/25_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/26_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/26_medium.json
new file mode 100644
index 0000000..ab10c89
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/26_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/27_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/27_medium.json
new file mode 100644
index 0000000..d3ea826
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/27_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/28_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/28_medium.json
new file mode 100644
index 0000000..4171638
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/28_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/29_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/29_medium.json
new file mode 100644
index 0000000..89e486b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/29_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/2_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/2_medium.json
new file mode 100644
index 0000000..dd8caba
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/2_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/30_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/30_medium.json
new file mode 100644
index 0000000..05fa0ad
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/30_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/31_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/31_medium.json
new file mode 100644
index 0000000..cec6c54
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/31_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/32_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/32_medium.json
new file mode 100644
index 0000000..9333406
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/32_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/33_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/33_medium.json
new file mode 100644
index 0000000..7f44e95
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/33_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/34_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/34_medium.json
new file mode 100644
index 0000000..e21df5d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/34_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/35_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/35_medium.json
new file mode 100644
index 0000000..41f08a5
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/35_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/36_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/36_medium.json
new file mode 100644
index 0000000..0b755e1
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/36_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/37_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/37_medium.json
new file mode 100644
index 0000000..eb0987f
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/37_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/38_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/38_medium.json
new file mode 100644
index 0000000..0d30d2a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/38_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/39_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/39_medium.json
new file mode 100644
index 0000000..a0707b8
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/39_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/3_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/3_medium.json
new file mode 100644
index 0000000..f225813
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/3_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/40_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/40_medium.json
new file mode 100644
index 0000000..cec4952
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/40_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/41_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/41_medium.json
new file mode 100644
index 0000000..20d30b8
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/41_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/42_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/42_medium.json
new file mode 100644
index 0000000..03b6d85
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/42_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/43_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/43_medium.json
new file mode 100644
index 0000000..6194ff2
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/43_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/44_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/44_medium.json
new file mode 100644
index 0000000..5564d02
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/44_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/45_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/45_medium.json
new file mode 100644
index 0000000..fa90d2e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/45_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/46_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/46_medium.json
new file mode 100644
index 0000000..e4218a3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/46_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/47_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/47_medium.json
new file mode 100644
index 0000000..9a39f3d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/47_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": -0.23,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/48_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/48_medium.json
new file mode 100644
index 0000000..b20c636
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/48_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/49_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/49_medium.json
new file mode 100644
index 0000000..bb33e71
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/49_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/4_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/4_medium.json
new file mode 100644
index 0000000..382f607
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/4_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/50_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/50_medium.json
new file mode 100644
index 0000000..c84f7c1
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/50_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/51_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/51_medium.json
new file mode 100644
index 0000000..c5e7010
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/51_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/52_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/52_medium.json
new file mode 100644
index 0000000..55d6243
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/52_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/53_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/53_medium.json
new file mode 100644
index 0000000..7210d52
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/53_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/54_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/54_medium.json
new file mode 100644
index 0000000..169589d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/54_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/55_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/55_medium.json
new file mode 100644
index 0000000..cb1ae10
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/55_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/56_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/56_medium.json
new file mode 100644
index 0000000..571d419
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/56_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/57_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/57_medium.json
new file mode 100644
index 0000000..f5a036d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/57_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/58_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/58_medium.json
new file mode 100644
index 0000000..c9c07a5
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/58_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/59_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/59_medium.json
new file mode 100644
index 0000000..ec0f7b9
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/59_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/5_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/5_medium.json
new file mode 100644
index 0000000..83e2df7
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/5_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/60_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/60_medium.json
new file mode 100644
index 0000000..90d68a3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/60_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/61_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/61_medium.json
new file mode 100644
index 0000000..873ce8e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/61_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/62_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/62_medium.json
new file mode 100644
index 0000000..b151931
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/62_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/63_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/63_medium.json
new file mode 100644
index 0000000..936fb79
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/63_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/64_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/64_medium.json
new file mode 100644
index 0000000..cb589d1
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/64_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/65_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/65_medium.json
new file mode 100644
index 0000000..f9d6e76
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/65_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/66_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/66_medium.json
new file mode 100644
index 0000000..72de659
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/66_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/67_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/67_medium.json
new file mode 100644
index 0000000..54fb7e5
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/67_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/68_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/68_medium.json
new file mode 100644
index 0000000..a762c21
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/68_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/69_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/69_medium.json
new file mode 100644
index 0000000..27e7da0
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/69_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/6_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/6_medium.json
new file mode 100644
index 0000000..87a4511
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/6_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/70_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/70_medium.json
new file mode 100644
index 0000000..bb8b494
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/70_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/71_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/71_medium.json
new file mode 100644
index 0000000..5075a09
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/71_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": -0.16,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/72_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/72_medium.json
new file mode 100644
index 0000000..d2bc99b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/72_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/73_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/73_medium.json
new file mode 100644
index 0000000..11c7b23
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/73_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/74_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/74_medium.json
new file mode 100644
index 0000000..f4c806f
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/74_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/75_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/75_medium.json
new file mode 100644
index 0000000..b7634df
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/75_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/76_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/76_medium.json
new file mode 100644
index 0000000..3068e7d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/76_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/77_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/77_medium.json
new file mode 100644
index 0000000..b46867d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/77_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/78_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/78_medium.json
new file mode 100644
index 0000000..dfd802e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/78_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/79_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/79_medium.json
new file mode 100644
index 0000000..e50cc7c
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/79_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/7_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/7_medium.json
new file mode 100644
index 0000000..955a46f
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/7_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/80_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/80_medium.json
new file mode 100644
index 0000000..51d3f57
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/80_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/81_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/81_medium.json
new file mode 100644
index 0000000..c97b3bb
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/81_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/82_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/82_medium.json
new file mode 100644
index 0000000..979ec3b
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/82_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": -0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/83_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/83_medium.json
new file mode 100644
index 0000000..d5995a6
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/83_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": -0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/84_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/84_medium.json
new file mode 100644
index 0000000..40c9a5d
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/84_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/85_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/85_medium.json
new file mode 100644
index 0000000..eaad247
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/85_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/86_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/86_medium.json
new file mode 100644
index 0000000..4a8bd11
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/86_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/87_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/87_medium.json
new file mode 100644
index 0000000..7452960
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/87_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/88_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/88_medium.json
new file mode 100644
index 0000000..1e2a325
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/88_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/89_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/89_medium.json
new file mode 100644
index 0000000..56d0081
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/89_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.01,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/8_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/8_medium.json
new file mode 100644
index 0000000..5d096f5
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/8_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/90_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/90_medium.json
new file mode 100644
index 0000000..10ec706
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/90_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": 0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/91_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/91_medium.json
new file mode 100644
index 0000000..3af70d7
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/91_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": 0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/92_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/92_medium.json
new file mode 100644
index 0000000..bf1a7c5
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/92_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": 0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/93_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/93_medium.json
new file mode 100644
index 0000000..75986c3
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/93_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": 0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/94_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/94_medium.json
new file mode 100644
index 0000000..88cc380
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/94_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.04,
+    "dy": 0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/95_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/95_medium.json
new file mode 100644
index 0000000..022a4d8
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/95_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.06,
+    "dy": 0.03,
+    "dtheta": -0.09,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/96_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/96_medium.json
new file mode 100644
index 0000000..5112db6
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/96_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.04,
+    "dy": -0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/97_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/97_medium.json
new file mode 100644
index 0000000..e0bed45
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/97_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": -0.02,
+    "dy": -0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/98_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/98_medium.json
new file mode 100644
index 0000000..658f529
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/98_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.0,
+    "dy": -0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/99_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/99_medium.json
new file mode 100644
index 0000000..a8cc36e
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/99_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.03,
+    "dtheta": -0.02,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/9_medium.json b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/9_medium.json
new file mode 100644
index 0000000..960d86a
--- /dev/null
+++ b/playground/open_duck_mini_v2/urdfs/placo_presets/tmp/9_medium.json
@@ -0,0 +1,52 @@
+{
+    "dx": 0.02,
+    "dy": -0.01,
+    "dtheta": -0.3,
+    "duration": 8,
+    "hardware": true,
+    "double_support_ratio": 0.5,
+    "startend_double_support_ratio": 1.0,
+    "planned_timesteps": 48,
+    "replan_timesteps": 10,
+    "walk_com_height": 0.205,
+    "walk_foot_height": 0.04,
+    "walk_trunk_pitch": -4,
+    "walk_foot_rise_ratio": 0.02,
+    "single_support_duration": 0.18,
+    "single_support_timesteps": 10,
+    "foot_length": 0.06,
+    "feet_spacing": 0.16,
+    "zmp_margin": 0.0,
+    "foot_zmp_target_x": 0.0,
+    "foot_zmp_target_y": -0.03,
+    "walk_max_dtheta": 1.0,
+    "walk_max_dy": 0.1,
+    "walk_max_dx_forward": 0.08,
+    "walk_max_dx_backward": 0.03,
+    "joints": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "neck_pitch",
+        "head_pitch",
+        "head_yaw",
+        "head_roll",
+        "left_antenna",
+        "right_antenna",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle"
+    ],
+    "joint_angles": {
+        "neck_pitch": 20,
+        "head_pitch": -26,
+        "head_yaw": 0,
+        "head_roll": 0,
+        "left_antenna": 0,
+        "right_antenna": 0
+    }
+}
\ No newline at end of file
diff --git a/playground/open_duck_mini_v2/xmls/open_duck_mini_v2.xml b/playground/open_duck_mini_v2/xmls/open_duck_mini_v2.xml
index 86204bf..5799310 100644
--- a/playground/open_duck_mini_v2/xmls/open_duck_mini_v2.xml
+++ b/playground/open_duck_mini_v2/xmls/open_duck_mini_v2.xml
@@ -57,7 +57,9 @@
   <worldbody>
     <body name="base" pos="0 0 0.22">
       <freejoint name="floating_base"/>
-      <site name="imu" pos="-0.08 -0.0 0.05"/>
+      <body name="imu" pos="-0.08 -0.0 0.05" childclass="open_duck_mini_v2">
+        <site name="imu" pos="0.0 0.0 0.0"/>
+      </body>
       <!-- Link trunk_assembly -->
       <body name="trunk_assembly" pos="0 0 0.0" quat="1 0 0 0" childclass="open_duck_mini_v2">
         <inertial pos="-0.0483259 -9.97823e-05 0.0384971" mass="0.698526"
diff --git a/playground/open_duck_mini_v2/xmls/open_duck_mini_v2_backlash.xml b/playground/open_duck_mini_v2/xmls/open_duck_mini_v2_backlash.xml
index 94fbc64..81ed197 100644
--- a/playground/open_duck_mini_v2/xmls/open_duck_mini_v2_backlash.xml
+++ b/playground/open_duck_mini_v2/xmls/open_duck_mini_v2_backlash.xml
@@ -59,7 +59,9 @@
     <body name="base" pos="0 0 0.22">
       <!-- <freejoint name="trunk_assembly_freejoint"/> -->
       <freejoint name="floating_base"/>
-      <site name="imu" pos="-0.08 -0.0 0.05"/>
+      <body name="imu" pos="-0.08 -0.0 0.05" childclass="open_duck_mini_v2">
+        <site name="imu" pos="0.0 0.0 0.0"/>
+      </body>
       <!-- Link trunk_assembly -->
       <body name="trunk_assembly" pos="0 0 0.0" quat="1 0 0 0" childclass="open_duck_mini_v2">
         <inertial pos="-0.0483259 -9.97823e-05 0.0384971" mass="0.698526"